A self-proposed project on variable-compliance soft-robotic jamming grippers, completed under the guidance of Dr. Neils Lohse and Dr. Andre Paoli, as a BEng-level dissertation in 2023. The format of this report was a requirement by Loughborough University, hence it is not written in the format of a standard research paper.
Controlling the stiffness of semi-compliant robotic grippers is crucial for handling delicate objects without damaging their surfaces. The Fin Ray Jamming Gripper project tackled this issue by designing, simulating, and prototyping a variable-compliance soft-gripper finger for industrial collaborative robots.
It focused on improving the handling of heavy yet fragile items, such as soft fruits and vegetables, in applications like robotic harvesting, food processing, and grocery picking. The project aimed to create, build, and test a variable-rigidity finger that could attach to a standard parallel jaw gripper.
Silicone prototypes were developed using iterative modeling and static finite element analysis, followed by injection molding. Force-displacement tests compared performance under pneumatically jammed and unjammed conditions, confirming the concept’s feasibility and its potential for precise grasps in grocery-picking scenarios.
Future work includes optimising performance by experimenting with different jamming materials and rib angles. Successful advancements could reduce food waste, improve efficiency in medical and disaster-response applications, and demonstrate the versatility of Fin Ray Jamming Grippers across various industries.
Github repo for designs and metrology data: https://github.com/raunak-h/FRJG