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

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

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

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

Objectives

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

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

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

Design and Fabrication

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

Gripper Components Base Ceiling

Base Mold Design #1

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

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

Ceiling Design #1

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

Base Mold Design #2

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

Ceiling Design #2

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

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

Base and Ceiling Result #1

Base and Ceiling Result #2

Base and Ceiling Combined

Experimental Results

Expansion Results

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

Conclusion

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