1. Faculty Advisor: Aaron Ohta
Robotic Grasper
Members
Michelle Acosta
Hiram Do
Brendon Jacinto
Leo Li
Romyl Lopez
Christopher Nguyen
Ka Ho So
Faculty Advisor: Aaron Ohta

2. Introduction What is the Robotic Grasper?
Hybrid between robotics and soft robotics
Improvement for handling materials
Mechanical analog of the human hand
Main Goals
Make Robotic Grasper fully autonomous
Attach the PDMS Grippers onto arm
Programming linear actuator

3. Ethical Issues Medical Robotic surgeries
Ethical issues arise when problems occur
Balance autonomy and human control
Labor
Human workers vs Robot workers
Robots could be cheaper in the long run
Human workers lose out

4. Environmental Impacts
Polydimethylsiloxane (PDMS) is a type of silicone
Used in our air chambers
No harmful effects on organisms in the environment
According to Ullmann’s Encyclopedia of Industrial Chemistry
Bisphenol A is a synthetic compound
Used in Lexan components of Robotic Grasper
National Institutes of Health and Food and Drug Administration concerns
Potential effects on young children
Disposal of grasper and keep away from children as a precaution

5. Objectives

6. Automatizing the Grasper
Programming grasper to move and pick up objects
How?
FlowBotics Studio
What is FlowBotics?
Gives visual representation of module
A program that can use images as “code”
Actions based on graphical images
Graphical images are recorded and performed

7. Controllable Airflow Using Linear Actuators What are Linear Actuators?
Creates motion in a straight line
Purpose
Applies force onto syringe
Syringe pumps air into gripper
Gripper inflates/deflates

8. Designing a suitable Gripper
Designing a mold
Creates mold for the Gripper
Using PDMS to fill mold
What is PDMS?
PDMS (a.k.a Polydimethylsiloxane)
Silicone based organic polymer
Characteristics of PDMS
Clear, inert, non-toxic, and non-flammable
Soft, rubbery, and elastic

9. Design and Fabrication

10. Dimensions of Gripper Dimensions of Gripper Pad Basic Idea
Height: 4.0 mm
Length: 27.0 mm
Width: 19.0 mm
Basic Idea
Dimensions used for design
Original gripper on grasper

11. Gripper Components
Base
Ceiling

12. Base Mold Design #1

13. Outer Dimensions Top View Dimensions Design Concept
Outer Length: 31.0 mm
Outer Width: 27.0 mm
Inner Length: 23.0 mm
Inner Width: 19.0 mm
Design Concept
Even distribution of air
Simple design

14. Chamber Mold Dimensions
Inner View (Pillars)
Dimensions
Length: 2.5 mm
Width: 2.5 mm
Distance between Pillars: 2.5 mm
Inner Height: 3.0 mm
Pillar Height: 2.0 mm

15. Ceiling Design #1

16. Ceiling Dimensions Outer Dimensions Inner Dimensions Length: 31.0 mm
Width: 23.0 mm
Height: 2.0 mm
Inner Dimensions
Length: 27.0 mm
Width: 19.0 mm
Height: 1.0 mm

17. Base Mold Design #2

18. Outer Dimensions Top View Dimensions Design Concept
Outer Length: 31.0 mm
Outer Width: 27.0 mm
Inner Length: 23.0 mm
Inner Width: 19.0 mm
Design Concept
Utilizing larger surface area
Larger chambers

19. Ceiling Design #2

20. Ceiling Dimensions Outer Dimensions Inner Dimensions Length: 31.0 mm
Width: 23.0 mm
Height: 3.0 mm
Inner Dimensions
Length: 27.0 mm
Width: 19.0 mm
Height: 1.0 mm

21. Center Slot Dimensions
Outer Dimensions
Length: ~5.0 mm
Width: ~3.4 mm
Height: 1.0 mm
Purpose
Allows air flow into chambers
Prevents center from inflating

22. Base and Ceiling Result #1

23. Base and Ceiling Result #2

24. Base and Ceiling Combined

25. Experimental Results

26. Expansion Results

27. Advantages and Disadvantages
Hard and soft robotics
Firm and cushioned grip
Polydimethylsiloxane (PDMS) Pads
Thickness creates soft area
Equal distribution of air
Robotic Arm
Easy to assemble
Software available for use
Disadvantages
Limited to small objects
Gripper size and capability
Weight constraints
Servo limitations
Manual Control
Follows preset patterns, manual inflating
Polydimethylsiloxane (PDMS) pads
Non-recyclable, susceptible to cuts

28. Conclusion

29. Goals and Objectives Did we reach our main goals?
Not quite, but almost there
Did we reach our objectives?
Still needs to be automatized
Able to design suitable grippers
Found a way to control air flow
Future Goals
Fully autonomous
Program linear actuator
Attach grippers onto grasper