Reconstruction of 3D FinRay Grippers and their Application
Abstract: This paper presents the design, reconstruction, and application of 3D FinRay grippers, inspired by the natural flexibility and adaptability of fish fins. The FinRay effect, characterized by its ability to conform to diverse object shapes, is exploited to create grippers capable of delicate and precise handling in various automated and robotic systems. The study focuses on the reconstruction of these grippers using fabrication techniques and using composite materials in a matter of hours which is, significantly faster than its previous version. Multiple iterations of the fingers have been made using variety of materials and lengths, to have comparative study among them. Detailed computational simulations and experimental tests demonstrate the grippers' effectiveness in manipulating objects with varying sizes, shapes, and textures. The results highlight the potential of 3D FinRay grippers in advancing robotic grasping technologies, offering significant contributions to fields such as soft robotics, automated assembly, and surgical robotics.
Advisor: Professor Cagdas Onal
Committee: Professor Berk Calli, Professor Carlo Pinchiroli, Professor Cagdas Onal
Zoom Link: https://wpi.zoom.us/j/97008024911