Nowadays, the use of mechanized and automated processes is increasing, which in turn, increases the need for increasingly powerful grippers. In environments where gentle gripping and good adaptation to objects are required, soft grippers are the most suitable. Existing grippers have problems carrying large loads and manipulating heavy objects, as they are not powerful enough for these tasks. In this project, we set out to develop soft grippers using rubber vulcanization. First, we reviewed the current state in the field of soft grippers, rubber vulcanization and tools. We produced a multi-part vulcanization tool and adapted the hydraulic press accordingly. We developed a process for vulcanizing the inner wall of the gripper and subsequently a second stage of vulcanization. We studied the possibility of integrating reinforcements into the vulcanization process. Finally, we tested two-stage vulcanized soft grippers and measured up to 25 N of pressure and failure at 3 bars of pressure. During the whole process, we analysed the results obtained and the possibilities for improvements for further work.
|
