Pellet-based fused deposition modeling for the development of soft compliant robotic grippers with integrated sensing elements

Abstract Fused deposition modeling (FDM) has some advantages compared to other additive manufacturing techniques, such as the in situ integration of functional components, like sensors, and recyclability parts. However, conventional filament-based FDM techniques are limited thermoplastic elastomers with a Shore hardness above 70 A, thus it marginal compatibility soft robotic structures. Due recently emerging pellet-based printer technology, fabrication grippers low become possible. In this study, styrene based (TPS) were used print elastic strips gripper structures down 25 A an integrated strain sensing element (piezoresistive sensor). Printing on rather than rigid substrate affects printed thread substrate, because softness relaxation, during printing softness. It was seen that integrating higher decreased elongation at point fracture sensitivity element. compliant structure layer TPS-based successfully, even due complex deformation structure, several positions could be detected successfully. Opened closed position gripper, well as, size recognition spools different sizes monitored by piezoresistive sensor layer. The most sensitive performance obtained TPS lower (25 A), value relative change resistance 1, followed 65 0.51. With we demonstrated printers can used, potential in-situ