3D printing deformable soft clamping jaw based on ST-3215-C018 steering engine and manufacturing method

Abstract

The invention belongs to the technical field of robot end executors, and discloses a 3D printing deformable soft clamping jaw structure based on an ST-3215-C018 steering engine, the 3D printing deformable soft clamping jaw structure comprises a steering engine driving system, a 3D printing flexible main body and an anti-skid functional layer, the 3D printing flexible main body comprises a pair of clamping jaws including a first clamping jaw and a second clamping jaw, the bottom of the first clamping jaw is provided with a mechanical connecting structure, and the bottom of the second clamping jaw is provided with a mechanical connecting structure; a steering engine driving system is installed in the mechanical connecting structure, and the bottom of the second clamping jaw is fixedly connected with the output end of the steering engine driving system. The steering engine driving system 1 drives the clamping jaw 2 to open and close to realize clamping and loosening functions; the anti-skid function layers are fixedly installed on the inner sides of the tail ends of the first clamping jaw and the second clamping jaw. The clamping jaw can adapt to objects in various shapes due to the deformable characteristic, the requirement for replacing the clamping jaw for different objects is reduced, and the system universality is improved. And in combination with a parameter feedback function of a steering engine, accurate control over the grabbing force is achieved, and the operation safety and reliability are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot end effectors, and in particular relates to a 3D-printed deformable soft gripper based on an ST-3215-C018 servo and a manufacturing method thereof. Background Art

[0002] Traditional rigid grippers are primarily made of metal or hard plastic, driven by motors or pneumatics to achieve simple opening and closing movements. While these grippers are simple in structure and low in manufacturing cost, they are prone to damage when gripping complex or fragile objects and have limited adaptability.

[0003] Flexible grippers are typically made of soft materials like silicone and can adapt to the shape of the object being gripped. However, their manufacturing process is complex, costly, and they lack durability and precise control. Reconfigurable grippers use a modular design, allowing for replacement of different gripping elements based on task requirements. However, this approach requires frequent component replacement, is cumbersome, and poses connection stability issues in practical applications. 3D printing technology has been applied in the field of gripper manufacturing, but existing technologies have the following main issues: Improper material selection results in insufficient flexibility or excessive softness of the gripper, which cannot meet the gripping requirements; Unreasonable structural design, resulting in excessive weight or insufficient strength; The connection method with the servo is unstable, affecting the long-term reliability; The gripping surface lacks effective anti-slip treatment, resulting in unstable grip; The manufacturing process is complex, making it difficult to mass produce and promote its application.

[0004] These problems seriously restrict the widespread application of 3D printed grippers in fields such as industry and medicine. Summary of the Invention

[0005] The purpose of the present invention is to provide a 3D printed deformable soft gripper based on the ST-3215-C018 servo and a manufacturing method to solve the above-mentioned technical problems.

[0006] To solve the above technical problems, the specific technical solutions of the present invention, a 3D printed deformable soft gripper based on the ST-3215-C018 servo and its manufacturing method are as follows: A 3D-printed deformable soft clamp structure based on an ST-3215-C018 servo, comprising a servo drive system, a 3D-printed flexible body, and an anti-slip functional layer. The 3D-printed flexible body comprises a pair of clamps: clamp 1 and clamp 2. The bottom of clamp 1 has a mechanical connection structure, within which a servo drive system is installed, and the bottom of the mechanical connection structure is connected to the previous servo; the bottom of clamp 2 is fixedly connected to the output end of the servo drive system; the servo drive system 1 drives clamp 2 to open and close to achieve clamping and releasing functions; and the anti-slip functional layer is fixedly mounted on the inner sides of the ends of clamp 1 and clamp 2.

[0007] Furthermore, the bottom of the mechanical connection structure has a connection seat, and the connection seat is connected to a steering gear.

[0008] Furthermore, the servo drive system uses the Fit ST-3215-C01 servo as a power source.

[0009] Furthermore, the 3D printed flexible body is manufactured using PolyFlex TPU95 high-performance flexible material through 3D printing technology.

[0010] Furthermore, the middle of the clamping jaw is designed with interval hollowing, and the key deformation area adopts a honeycomb or wavy filling internal structure design; the mechanical connection structure adopts a thickened wall and an internal support structure, and a stable connection with the servo is achieved through multiple fasteners.

[0011] Furthermore, the anti-slip functional layer is 3M™ Gripping Material TB641 professional anti-slip material.

[0012] The present invention also discloses a method for manufacturing a 3D printed flexible body, comprising the following steps: The nozzle temperature was controlled between 210°C and 230°C; the print platform temperature was set between 25°C and 60°C; the print speed was controlled between 20mm / s and 40mm / s; the fan was kept on during the printing process; a differentiated filling density strategy was adopted for different parts of the 3D printed flexible body, with a high density of 70%-100% for the mechanical connection structure to ensure strength, and a medium density of 40%-60% for the gripping part to provide appropriate flexibility; the layer height was set to 0.1mm-0.2mm.

[0013] The 3D printed deformable soft gripper based on the ST-3215-C018 servo and the manufacturing method thereof have the following advantages: This invention offers significant innovative advantages over existing technologies. It utilizes PolyFlex TPU95, a high-performance flexible material that maintains flexibility while offering excellent durability, addressing the fragility of traditional flexible grippers. Its structural optimization, through a hollow design and optimized internal structure, achieves a perfect balance between lightweight and deformability, improving operational efficiency and adaptability while also being 3D printable. The connection structure, specifically designed for the ST-3215-C01 servo, ensures a stable and reliable connection, addressing the unstable connection issues associated with traditional 3D-printed grippers. The use of 3M™ Gripping Material TB641, a professional non-slip material, significantly improves grip stability, particularly on smooth surfaces. Optimized 3D printing parameters enable the gripper to be easily manufactured on a standard desktop 3D printer, eliminating the need for specialized equipment and significantly reducing production costs. Its deformable nature allows the gripper to adapt to various object shapes, reducing the need for jaw replacement for different objects and enhancing system versatility. Combined with the parameter feedback function of the servo, precise control of the grasping force is achieved, which improves operational safety and reliability, and provides a high-performance, low-cost, and easy-to-manufacture intelligent grasping solution for modern automation and robotics technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the 3D printed deformable soft gripper structure of the present invention; Figure 2 This is a schematic diagram of the exploded structure of the 3D printed deformable soft gripper of the present invention; Explanation of the marks in the figure: 1. Servo drive system; 2. 3D printed flexible body; 21. Gripper 1; 211. Mechanical connection structure; 2111. Connecting seat; 22. Gripper 2; 3. Anti-slip functional layer. DETAILED DESCRIPTION

[0015] To better understand the purpose, structure, and function of the present invention, the following, in conjunction with the accompanying drawings, provides a further detailed description of a 3D-printed deformable soft gripper based on the ST-3215-C018 servo and its manufacturing method.

[0016] like Figure 1 Figure 2 As shown, the present invention is a 3D printed deformable soft gripper structure based on the ST-3215-C018 steering gear, comprising a steering gear drive system 1, a 3D printed flexible body 2, and an anti-slip functional layer 3. The 3D-printed flexible body 2 comprises a pair of jaws: jaw 1 21 and jaw 2 22. The base of jaw 1 21 features a mechanical connection structure 211, which houses the servo drive system 1. The base of mechanical connection structure 211 also features a mounting base 2111 for connecting to the preceding servo. The base of jaw 2 22 is fixedly connected to the output of the servo drive system 1. The servo drive system 1 drives jaw 2 22 to open and close, achieving clamping and releasing functions. An anti-slip layer 3 is fixedly attached to the inner ends of jaws 1 and 2.

[0017] Servo drive system 1 uses the Fiter ST-3215-C01 servo as its power source. This powerful 12V, 30kg serial bus intelligent servo features a plastic housing, an iron-core motor, a metal gearbox, and Fiter's independently developed TTL control board. It includes a built-in 12-bit high-precision magnetic encoder sensor, capable of delivering 30kg / cm of stall torque, enabling precise 360-degree control at any angle, multi-turn continuous rotation, and stepping modes. It also features one-touch neutral position setting, slow acceleration start and stop, and real-time feedback on key parameters such as position, speed, voltage, temperature, and load. Overload protection ensures safe and reliable system operation.

[0018] The 3D-printed flexible body 2 is manufactured using PolyFlex TPU95 high-performance flexible material via 3D printing technology. This thermoplastic polyurethane filament boasts a Shore A hardness of 95A and demonstrates an excellent elongation of over 400% in strain-to-failure testing, ensuring the gripper's exceptional durability and deformation recovery during use. This material is compatible with nearly all desktop FDM / FFF printers and requires no hardware modification, significantly lowering the manufacturing barrier. The material's inherent flexibility and shape memory properties enable the gripper to adapt to the object's shape during gripping, enhancing gripping stability and adaptability. It also offers high strength and durability, a strong yet flexible rubbery feel, and excellent layer adhesion, ensuring long-term resistance to breakage and deformation. The material's excellent printing performance is characterized by zero bubbles, jams, or warping. It complies with environmental standards, is non-toxic, and is suitable for use in safety-critical industries such as the medical and food industries.

[0019] In terms of the 3D printing process, optimized parameter settings were used to ensure the printing quality and performance of the gripper. The nozzle temperature was controlled between 210°C and 230°C to ensure sufficient material melting without degradation. The print platform temperature was set between 25°C and 60°C, adjusted appropriately according to environmental conditions to ensure good adhesion of the first layer. The print speed was controlled between 20mm / s and 40mm / s, with lower speeds helping to improve printing accuracy and interlayer bonding strength. The fan was kept on during the printing process, ensuring proper cooling to enhance surface quality and detail. Differentiated infill density strategies were adopted for different parts of the 3D-printed flexible body 2. The mechanical connection structure 211 adopted a high density of 70%-100% to ensure strength, while the gripping parts adopted a medium density of 40%-60% to provide appropriate flexibility. The layer height was set to 0.1mm-0.2mm, ensuring surface smoothness and detail while ensuring efficiency.

[0020] Comprehensive structural design innovations and optimizations have been made. Adopting a lightweight design concept, the gripper features hollowed-out sections in between, significantly reducing material consumption and overall weight while improving operational flexibility and responsiveness. Special internal structural designs, such as honeycomb or wavy fillings, are employed in key deformation areas to enhance the gripper's deformation capacity and resilience. The bottom mechanical connection structure 211 has been specially reinforced, featuring thickened walls and internal support structures. Four M3 hexagon socket bolts provide a secure connection to the servo, ensuring it will not loosen or fall off even under high-speed movement and heavy loads. This connection ensures structural strength while facilitating assembly and disassembly for maintenance. As a complementary connection solution for the ST-3215-C01 servo, the gripper can be easily integrated into a robotic arm system as an end effector. A modular design concept facilitates the replacement of gripping components of varying shapes and sizes to meet specific application requirements, significantly improving the system's adaptability and versatility.

[0021] To enhance gripping performance, the gripper's end is affixed with a non-slip functional layer 3. This layer is 3M™ Gripping Material TB641, a soft, adhesive-backed, specialized gripping material specifically designed to provide optimal adhesion upon contact. This material utilizes an acrylic pressure-sensitive adhesive for secure adhesion to a variety of surfaces. Its soft thermoplastic elastomer gripping polymer exhibits exceptional high-friction properties and is composed of thousands of micro-replicated gripping fingers, providing a lighter yet more secure grip. This allows for maximum grip with minimal effort, significantly enhancing the gripper's cushioning, comfort, flexibility, and softness, making it particularly well-suited for gripping objects on smooth surfaces.

[0022] The system leverages the high-precision control capabilities of the ST-3215-C01 servo to achieve precise opening and closing of the gripper. The servo can implement multiple operating modes and provide comprehensive parameter feedback, enabling intelligent control. When the gripper closes and contacts an object, the PolyFlex TPU95 material deforms appropriately based on the object's shape, increasing the contact area and improving grip stability. The material's shape memory properties ensure that it returns to its original shape after release, maintaining long-term performance. The use of anti-slip materials significantly increases friction between the gripper and the grasped object, reducing the risk of slippage. Through load parameter feedback from the servo, the system can monitor gripping force in real time, avoiding excessive pressure on fragile objects and achieving intelligent gripping control.

[0023] The present invention is mainly applied to the following fields: Precision parts grasping field This device is 3D-printed from flexible materials and exhibits excellent deformation adaptability, adapting to the shape of the object being grasped, enabling precise grasping of irregularly shaped objects. The use of anti-slip material at the end significantly improves grasping stability and reliability, making it particularly suitable for grasping delicate items such as precision electronic components and optical devices.

[0024] Industrial automation field This device perfectly matches the connection method of the Fiter ST-3215-C01 servo and can be used as an end effector for industrial robotic arms, enabling automated grasping, handling, and assembly operations on production lines. Its lightweight design and highly reliable connection method ensure stable performance in long-term continuous working environments, improving production efficiency.

[0025] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A 3D printed deformable soft gripper structure based on the ST-3215-C018 servo, characterized in that: The invention comprises a steering gear drive system (1), a 3D printed flexible body (2), and an anti-slip functional layer (3), wherein the 3D printed flexible body (2) comprises a pair of clamps: a first clamp (21) and a second clamp (22), wherein the bottom of the first clamp (21) has a mechanical connection structure (211), the steering gear drive system (1) is installed inside the mechanical connection structure (211), and the bottom of the mechanical connection structure (211) is connected to the previous steering gear; the bottom of the second clamp (22) is fixedly connected to the output end of the steering gear drive system (1); the steering gear drive system (1) drives the second clamp (22) to open and close to realize the clamping and releasing functions; and the anti-slip functional layer (3) is fixedly installed on the inner side of the ends of the first clamp (21) and the second clamp (22).

2. The 3D printed deformable soft gripper structure based on the ST-3215-C018 servo according to claim 1 is characterized in that: The bottom of the mechanical connection structure (211) is provided with a connection seat (2111), and the connection seat (2111) is connected to a steering gear.

3. The 3D printed deformable soft gripper structure based on the ST-3215-C018 servo according to claim 1 is characterized in that: The servo drive system (1) uses a Fit ST-3215-C01 servo as a power source.

4. The 3D printed deformable soft gripper structure based on the ST-3215-C018 servo according to claim 1, characterized in that: The 3D printed flexible body (2) is manufactured using PolyFlex TPU95 high-performance flexible material through 3D printing technology.

5. The 3D printed deformable soft gripper structure based on the ST-3215-C018 servo according to claim 1, characterized in that: The middle of the clamping jaws is hollowed out at intervals, and the key deformation area is filled with a honeycomb or wavy internal structure design; The mechanical connection structure (211) adopts a thickened wall and an internal support structure, and is firmly connected to the steering gear through multiple fasteners.

6. The 3D printed deformable soft gripper structure based on the ST-3215-C018 servo according to claim 1, characterized in that: The anti-slip functional layer (3) is 3M™ Gripping Material TB641 professional anti-slip material.

7. A method for manufacturing a 3D printed flexible body, characterized in that: The steps include: The nozzle temperature is controlled between 210°C and 230°C; the printing platform temperature is set between 25°C and 60°C; the printing speed is controlled between 20mm / s and 40mm / s; the fan is kept on during the printing process; a differentiated filling density strategy is adopted for different parts of the 3D printed flexible body (2), the mechanical connection structure (211) adopts a high density of 70%-100% to ensure strength, and the gripping part adopts a medium density of 40%-60% to provide appropriate flexibility; the layer height is set to 0.1mm-0.2mm.

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