TY - JOUR
T1 - Thermally Powered Soft Gripper Covered with Silver-Coated Nylon Fabric Heater Reinforced with Stainless Steel Yarn
AU - Taherkhani, Bahman
AU - Çelebi, Mehmet Fatih
AU - Çetin, Münire Sibel
AU - Tuncay Atalay, Asli
AU - Ince, Gökhan
AU - Atalay, Ozgur
N1 - Publisher Copyright:
© 2024 The Author(s). Advanced Engineering Materials published by Wiley-VCH GmbH.
PY - 2024
Y1 - 2024
N2 - Soft grippers, generating movement immediately, are generally based on flexible materials actuated by air pressure and comprised of bulky parts, including valves, compressors/pumps, motors, and tubes. In this work, a compact soft gripper with the ability to actuate with a low boiling point liquid (acetone) is presented. SolidWorks 2021 software and 3D printing technology are used to design and manufacture the gripper molds, respectively. The constitutive material of the soft gripper body is highly flexible Ecoflex. A silver-coated nylon fabric (SCNF) heater reinforced with stainless steel yarn (SSY) covering the external surface of the gripper is designed and manufactured using Autocad 2021 and a laser cutting machine, respectively. The idea is inspired by floating the gripper in warm water to provide smooth heat over a large surface area. The available commercial software Abaqus2021 is used to simulate the mechanical deformation of the gripper, and its results are verified with experimental results. The parameter's effect including the voltage and low boiling liquid volume on achievable force and actuating time are investigated. The relation between the electrical, thermal, and mechanical properties of the presented gripper is discussed in detail.
AB - Soft grippers, generating movement immediately, are generally based on flexible materials actuated by air pressure and comprised of bulky parts, including valves, compressors/pumps, motors, and tubes. In this work, a compact soft gripper with the ability to actuate with a low boiling point liquid (acetone) is presented. SolidWorks 2021 software and 3D printing technology are used to design and manufacture the gripper molds, respectively. The constitutive material of the soft gripper body is highly flexible Ecoflex. A silver-coated nylon fabric (SCNF) heater reinforced with stainless steel yarn (SSY) covering the external surface of the gripper is designed and manufactured using Autocad 2021 and a laser cutting machine, respectively. The idea is inspired by floating the gripper in warm water to provide smooth heat over a large surface area. The available commercial software Abaqus2021 is used to simulate the mechanical deformation of the gripper, and its results are verified with experimental results. The parameter's effect including the voltage and low boiling liquid volume on achievable force and actuating time are investigated. The relation between the electrical, thermal, and mechanical properties of the presented gripper is discussed in detail.
KW - acetone
KW - ecoflex-based actuator
KW - silver coated nylon fabric heater (SCNF)
KW - stainless steel yarn (SSY)
KW - voltage-temperature-force relation
UR - http://www.scopus.com/inward/record.url?scp=85194696622&partnerID=8YFLogxK
U2 - 10.1002/adem.202302216
DO - 10.1002/adem.202302216
M3 - Article
AN - SCOPUS:85194696622
SN - 1438-1656
JO - Advanced Engineering Materials
JF - Advanced Engineering Materials
ER -