Experimental Investigation of Suction Performance in Soft Grippers

Introduction

Gripper technology is becoming increasingly vital as robots are deployed across diverse applications, from manufacturing to search and rescue in hazardous environments. However, conventional rigid grippers lack adaptability, and many existing soft grippers depend on bulky vacuum systems that increase maintenance complexity. To address these limitations, this project aims to develop a biomimetic gripper inspired by the suction mechanics of octopus suckers. The proposed design features a single-piece structure with a stiff acetabulum for pressure generation and a compliant infundibulum to improve sealing and surface conformity. Guided by octopus morphology, the design balances strength and flexibility through variations in material elasticity. Gripper geometries will be modeled in CAD and fabricated using a Formlabs Form 3 stereolithography (SLA) 3D printer with resins of varying properties, followed by testing on a material testing system (MTS) to evaluate compressive and tensile performance. The effectiveness of the design will be assessed by comparing experimental results to understand the impact of material stiffness and surface roughness and features on adhesion. This research has significant implications for advancing adaptable, low-maintenance gripping technologies for applications in underwater operations, manufacturing, rescue, and prosthetics, contributing to more versatile and accessible robotic systems.

Research objectives

• Design various octopus-inspired suckers that implement key features that enhance suction force

• Perform computer simulation on prototype designs to determine optimal design implementation