Investigation of the performance of the elastomer-based soft robotic gripper produced by the bubble casting technique

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dc.contributor.authorEroğlu, Murat
dc.date.accessioned2026-02-08T15:11:01Z
dc.date.available2026-02-08T15:11:01Z
dc.date.issued2024
dc.departmentBursa Teknik Üniversitesi
dc.description.abstractA soft robotic actuator was produced by the bubble casting technique, which is composed of elastomeric material. Investigations were conducted to determine how the viscosity of the liquid elastomer affected how the robotic actuator bent. The gripper's curvature, response time, and load-carying capacity were measured, and the relation between applied air pressure and these characteristics was examined. Moreover, the effect of environmental factors (dry, wet and oily) on the load-carrying capacity of the gripper was investigated. These findings demonstrate that as applied air pressure is increased, the gripper's response time, curvature, and load-carrying capacity all increase. For all applied pressures, the highest load-carrying capacity of the gripper was observed in a dry environment. The grippers load-carrying capacity in a dry environment was approximately 2.5 g, 3.5 g, and 5.9 g at pressures of 30 kPa, 35 kPa, and 40 kPa, respectively. By altering the waiting time, the elastomer's viscosity could be managed. The ideal waiting time was found to be between 3 and 4 minutes for optimal bending performance. If the soft robotic gripper is improved to achieve greater performance, it will be suitable for real-world applications. © 2024, Gumushane University. All rights reserved.
dc.identifier.doi10.17714/gumusfenbil.1244719
dc.identifier.endpage1127
dc.identifier.issue4
dc.identifier.scopus2-s2.0-105004051169
dc.identifier.scopusqualityN/A
dc.identifier.startpage1120
dc.identifier.trdizinid1286196
dc.identifier.urihttps://doi.org/10.17714/gumusfenbil.1244719
dc.identifier.urihttps://search.trdizin.gov.tr/tr/yayin/detay/1286196
dc.identifier.urihttps://hdl.handle.net/20.500.12885/5173
dc.identifier.volume14
dc.indekslendigikaynakScopus
dc.indekslendigikaynakTR-Dizin
dc.language.isotr
dc.publisherGumushane University
dc.relation.ispartofGumushane Universitesi Fen Bilimleri Dergisi
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzScopus_KA_20260207
dc.subjectBubble casting technique
dc.subjectElastomer
dc.subjectPerformance
dc.subjectSoft robotic actuator
dc.subjectSoft robotic gripper
dc.titleInvestigation of the performance of the elastomer-based soft robotic gripper produced by the bubble casting technique
dc.title.alternativeKabarcık döküm tekniği ile üretilen elastomer esaslı yumuşak robotik tutucunun performansının incelenmesi
dc.typeArticle

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