The Design and Development of a Logarithmic-Shaped Soft Gripper
12th International Conference on Control, Decision and Information Technologies, CoDIT 2026, Bari, İtalya, 13 - 16 Temmuz 2026, ss.2392-2397, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/codit70676.2026.11630823
- Basıldığı Şehir: Bari
- Basıldığı Ülke: İtalya
- Sayfa Sayıları: ss.2392-2397
- Anahtar Kelimeler: dynamics, forward kinematics, human-machine interaction, logarithmic spiral, simulation, soft gripper, workspace
- Kocaeli Üniversitesi Adresli: Evet
Özet
Soft robotic systems have attracted considerable research interest owing to their promising potential in specialized and unstructured applications. This study presents the design and development of a logarithmic spiral-shaped soft gripper. The forward kinematic formulations required for fabrication were systematically derived, and key design parameters, dynamics, workspace characteristics, and simulation methodologies were thoroughly investigated. The gripper was developed in a segmented configuration inspired by an n-pendulum structure, facilitating the efficient kinematic analysis of compliant designs that are inherently challenging to model and simulate. Furthermore, a comprehensive review of the existing literature on soft grippers incorporating logarithmic spiral geometries was conducted. The outcomes of this study provide a foundational framework for the future design, optimization, and implementation of logarithmic spiralshaped soft grippers.