Cover
Vol. 21 No. 1 (2025)

Published: September 19, 2025

Pages: 44-54

Original Article

Design and Implementation of the Soft Robot’s End-Effecter

Shahad A. Al-Ibadi 1 Loai A. T. Al-Abeach Mohammed A. Al-Ibadi
1Computer Engineering Department, College of Engineering, University of Basrah, Basrah, Iraq
History
  • Received: September 4, 2023
  • Revised: December 30, 2023
  • Accepted: December 30, 2023
  • Available Online: November 1, 2024
DOI

https://doi.org/10.37917/ijeee.21.1.5

Abstract

Soft robotics is a modern technique that allows robots to have more capabilities than conventional rigid robots. Pneumatic Muscle Actuators (PMAs), also known as McKibben actuators, are an example of soft actuators. This research covered the design and production of a pneumatic robot end effector. Smooth, elastic, flexible, and soft qualities materials have contributed to the creation of Soft Robot End-Effector (SREE). To give SREE compliance, it needs to handle delicate objects while allowing it to adapt to its surroundings safely. The research focuses on the variable stiffness SREE’s inspiration design, construction, and manufacturing. As a result, a new four-fingered variable stiffness soft robot end effector was created. SREE has been designed using two types of PMAs: Contractor PMAs (CPMAs) and Extensor PMAs (EPMAs). Through tendons and Contractor PMAs, fingers can close and open. SREE was tested and put into practice to handle various object types. The innovative movement of the suggested SREE allows it to grip with only two fingers and open and close its grasp with all of its fingers.

Keywords

References

  1. M. A. Robertson and J. Paik, “New soft robots really suck: Vacuum-powered systems empower diverse capa- bilities,” Science Robotics, vol. 2, no. 9, p. eaan6357, 2017.
  2. S. A. Al-Ibadi, L. A. T. Al Abeach, and M. A. A. Al- Ibadi, “Soft robots: Implementation, modeling, and methods of control,” Indonesian Journal of Electrical Engineering and Informatics (IJEEI), vol. 11, no. 1, pp. 194–209, 2023.
  3. G. Giordano, M. Carlotti, and B. Mazzolai, “A per- spective on cephalopods mimicry and bioinspired tech- nologies toward proprioceptive autonomous soft robots,” Advanced Materials Technologies, vol. 6, no. 12, p. 2100437, 2021.
  4. C. Yang, S. Geng, I. Walker, D. T. Branson, J. Liu, J. S. Dai, and R. Kang, “Geometric constraint-based model- ing and analysis of a novel continuum robot with shape memory alloy initiated variable stiffness,” The Interna- tional Journal of Robotics Research, vol. 39, no. 14, pp. 1620–1634, 2020.
  5. H. K. Yap, H. Y. Ng, and C.-H. Yeow, “High-force soft printable pneumatics for soft robotic applications,” Soft Robotics, vol. 3, no. 3, pp. 144–158, 2016.
  6. A. A. Calder´on, J. C. Ugalde, L. Chang, J. C. Zagal, and N. O. P´erez-Arancibia, “An earthworm-inspired soft robot with perceptive artificial skin,” Bioinspiration & biomimetics, vol. 14, no. 5, p. 056012, 2019.
  7. S. Kim, C. Laschi, and B. Trimmer, “Soft robotics: a bioinspired evolution in robotics,” Trends in biotechnol- ogy, vol. 31, no. 5, pp. 287–294, 2013. 54 | Al-Ibadi, Al-Abeach & Al-Ibadi
  8. R. Deimel and O. Brock, “A novel type of compliant and underactuated robotic hand for dexterous grasping,” The International Journal of Robotics Research, vol. 35, no. 1-3, pp. 161–185, 2016.
  9. N. Elango and A. A. M. Faudzi, “A review article: inves- tigations on soft materials for soft robot manipulations,” The International Journal of Advanced Manufacturing Technology, vol. 80, pp. 1027–1037, 2015.
  10. L. A. T. Al Abeach, Pneumatic variable stiffness soft robot end effectors. University of Salford (United King- dom), 2017.
  11. J. Rosell, R. Su´arez, C. Rosales, and A. P´erez, “Au- tonomous motion planning of a hand-arm robotic sys- tem based on captured human-like hand postures,” Au- tonomous Robots, vol. 31, no. 1, pp. 87–102, 2011.
  12. S. A. Al-Ibadi, L. A. Al-Abeach, and M. A. Al-Ibadi, “Experimental modeling of pneumatic muscle actuator,” in 2022 Iraqi International Conference on Communica- tion and Information Technologies (IICCIT), pp. 153– 158, IEEE, 2022.
  13. H. Al-Fahaam, S. Nefti-Meziani, T. Theodoridis, and S. Davis, “The design and mathematical model of a novel variable stiffness extensor-contractor pneumatic artificial muscle,” Soft robotics, vol. 5, no. 5, pp. 576– 591, 2018.
  14. L. Al Abeach, S. Nefti-Meziani, T. Theodoridis, and S. Davis, “A variable stiffness soft gripper using granular jamming and biologically inspired pneumatic muscles,” Journal of Bionic Engineering, vol. 15, pp. 236–246, 2018.
  15. I. S. Godage, D. T. Branson, E. Guglielmino, G. A. Medrano-Cerda, and D. G. Caldwell, “Shape function- based kinematics and dynamics for variable length con- tinuum robotic arms,” in 2011 IEEE International Con- ference on Robotics and Automation, pp. 452–457, IEEE, 2011.
  16. L. A. Al Abeach, S. Nefti-Meziani, and S. Davis, “De- sign of a variable stiffness soft dexterous gripper,” Soft robotics, vol. 4, no. 3, pp. 274–284, 2017.