The document describes the design of a soft smart gripper for handling delicate objects such as egg yolks. The gripper aims to minimize power consumption and operate at a minimal response time. It will be 3D printed using active dielectric elastomer, passive support material, and carbon grease electrodes. Experimental evaluations will measure displacement, voltage over time, power consumption, force production, payload capacity, and longevity. Software simulations using ABAQUS will model displacement against voltage and strength. Possible design iterations include varying pre-stress strain, support structure shape/orientation/thickness, and increasing the number of gripper units.

1. SOFT SMART GRIPPER FOR
HANDLING DELICATE
OBJECTS

2. OBJECTIVE
• To design a gripper in handling things as delicate as egg yolk
• To design the gripper with minimum power consumption
• To make the gripper to operate at minimal response time

3. MATERIALS REQUIREMENT
• VHB 4910/9473 – Active Di electric elastomer
• Ninjaflex – Passive support material
• Carbon grease – Compliant electrode
• Conducting wires

4. OTHER REQUIREMENTS
• 5D printer for printing support structure
• Driving voltage setup for actuator – 3 kV to 10 kV
• Should be capable of providing impulse voltage
• Should also be capable or providing voltage supply at different rates
• High speed camera to capture the movements of the actuator
• Load cell to measure the force produced by the gripper

5. EXPERIMENTAL EVALUATIONS
• Displacement vs Response time
• Voltage – time vs position
• Power consumption per actuation
• Force produced by the actuator
• Maximum pay load capacity
• Longevity test
• Interfacial toughness between TPU and Dielectric elastomer
• Standard 90 deg peeling test

6. SOFTWARE EVALUATIONS - ABAQUS
• Displacement vs voltage
• Strength
• Force

7. POSSIBLE ITERATIONS
• Pre stress strain can be varied
• Passive support structure can be varied with
• Shape
• Orientation
• Thickness etc
• No of units can be increased