現今的工業環境中，全世界以及國內的產業紛紛導入了自動化的設備，夾爪的技術與應用範圍大多是使用在工業加工上，而在夾爪的本身設計上，因夾爪內部都含有潤滑油，不論是在氣動還是電動的夾爪，也因為有潤滑油的關係，無法在食品業以及易碎物品的產業上能夠有效的使用。本篇論文利用軟性夾爪變化性大的特性來完成對夾爪的設計。
在本篇論文中，我們提出了一個使用矽膠為主體搭配3D 繪圖技巧和3D 印表機進行帶有模塊化設計的軟性機器人夾爪模具製作。夾具由一個剛性前底座和一個柔軟的機器人夾爪組成。外觀模具的設計簡單方便拆裝，在組裝的過程中不需使用到螺絲來將模具組裝起來。夾爪的設計，是利用夾爪的柔軟性和抓取物體時的可變形性通過實驗來進行研究。在軟性機器人夾爪的前端部份我們通過一次又一次的實驗模擬出了人類手指的部分，好讓軟性夾爪改善在抓取平面性物品的時候可以有更充足的抓物力將物品抓取起來。
實驗最後顯示，與非有手指式的軟性機器人夾爪相比，在抓取平面
狀的物體的時候手指式的軟性機器人夾爪可以更輕鬆的抓取。

In this paper, we propose a soft robot clamping claw mold with modular design using Silicone as the main body with 3D drawing skills and 3D printer. The clamping device consists of a rigid front base and a soft robotic clamping claw. The design of the appearance mold is simple and easy to disassemble and install. In the process of assembly,screws are not required to assemble the mold. The design of clamping claw is to make use
of the softness of clamping claw and the deformability of grab object throughexperiments.
In the front part of the soft gripper through the experiment of again and again, we simulate the part of human hands, and let the soft gripper improved grab planarity items can have more sufficient grab material fetching up the item.
The results of the experiment show that compared with the non-finger-like soft robot clamping claws, the finger-like soft robot clamping claws can be more easily grasped
when grasping flat objects.

Acknowledgement I
Abstract in Chinese II
Abstract in English III
Contents IV
List of Figures VI
1 Introduction 1
1.1 Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.4 Gripper Characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5 Problem Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.6 Paper architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Prepare work 5
2.1 Soft gripper’s design . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Soft gripper’s development . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 Experiment result 25
3.1 Experiment result of the soft gripper . . . . . . . . . . . . . . . . . . . 25
4 Conclusion 41
References 42
List of Figures
2.1 Soft grippers top view . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Soft grippers front view . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.3 Actual gripping of the grippers . . . . . . . . . . . . . . . . . . . . . . 6
2.4 Molds for the soft grippers . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.5 Air bubbles due to air . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.6 The product we used Ecoflex 00-30 . . . . . . . . . . . . . . . . . . . . 8
2.7 The molds used for the soft grippers first time manufacture . . . . . . . 10
2.8 Appearance of the second time’s manufacture soft grippers . . . . . . . 12
2.9 The molds used for the soft grippers second time’s manufacture . . . . 13
2.10 The protruding is occasioned by the second time’s designs soft grippers
not fully sealing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.11 The second time’s designs soft grippers not fully sealing schematic diagram 15
2.12 The molds used for the soft grippers third time’s manufacture . . . . . 15
2.13 The third time’s designs model combined Appearance . . . . . . . . . . 16
2.14 The third time’s manufacture soft grippers . . . . . . . . . . . . . . . . 18
2.15 The third time’s designs soft grippers design too flimsy cause the split . 18
2.16 The third time’s designs soft grippers redesign molds combined Appearance 19
2.17 The third time’s designs soft grippers Inflation actuated appearance . . 20
2.18 The third time’s designs soft grippers Inflation actuated gripping items
appearance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.19 The third time’s designs soft grippers Inflation actuated schematic diagram 21
2.20 The fourth time’s designs soft grippers model design drawing . . . . . . 22
2.21 The fourth time’s designs soft grippers model first time modify design
drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.22 The fourth time’s designs soft grippers model second time’s modify design
drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.23 The fourth time’s designs soft grippers model haven’t had inflation state
after modify . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.24 The fourth time’s designs soft grippers model have had inflation state
after modify . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.1 Simulation results of soft gripper . . . . . . . . . . . . . . . . . . . . . 26
3.2 Soft gripper finished products . . . . . . . . . . . . . . . . . . . . . . . 26
3.3 Design the front end of the soft gripper . . . . . . . . . . . . . . . . . . 27
3.4 Soft grippers haven’t had inflation state . . . . . . . . . . . . . . . . . 28
3.5 Soft grippers have had inflation state . . . . . . . . . . . . . . . . . . . 29
3.6 Soft gripper gripping test . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.7 Soft gripper gripping test . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.8 Soft gripper gripping test . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.9 Soft gripper gripping test . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.10 Soft gripper gripping test . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.11 Soft gripper gripping test . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.12 Gripping test without fit over the hard claw gripper . . . . . . . . . . . 36
3.13 Gripping test fit over the hard claw gripper . . . . . . . . . . . . . . . 37
3.14 Gripping test fit over the hard claw gripper . . . . . . . . . . . . . . . 38
3.15 Gripping cardboard test without fit over the hard claw gripper . . . . . 39
3.16 Gripping cardboard test fit over the hard claw gripper . . . . . . . . . 40

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