Ciencias Exactas y Ciencias de la Salud
Permanent URI for this collectionhttps://hdl.handle.net/11285/551039
Pertenecen a esta colección Tesis y Trabajos de grado de las Maestrías correspondientes a las Escuelas de Ingeniería y Ciencias así como a Medicina y Ciencias de la Salud.
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- Architected gripper fingers: design, additive manufacturing, and experimental characterization(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2025-12-09) Molina Berrios, Andrés Eduardo; Román Flores, Armando; emimmayorquin, emipsanchez; Vázquez Hurtado, Carlos; School of Engineering and Sciences; Campus Monterrey; Cuan Urquizo, EnriqueSoft robotic manipulators provide an approach to manipulate delicate and fragile objects. Their performance depends mostly on its material flexibility and finger design. This study explores architected gripper fingers designs featuring sinusoidal structures manufactured via fused filament fabrication using thermoplastic polyurethane. The deformation behavior was experimentally characterized through image analysis of geometry conformity to assess adaptability and load-deformation test using a stepper motor and analog dynamometer. Performance was analyzed implementing robotic manipulation trials using an Xarm. The results showed that distance between curved ribs demonstrated higher flexibility, with greater deformations per load step. Withing the designs, models with increased number of waves achieved better adaptability, while those with ribs spacing variations exhibited higher stiffness. Robotic manipulation experiments confirmed that architected fingers improved grasping performance and reduced damage when handling delicate objects. This study provides a foundation for developing robotic applications, demonstrating that the proposed configurations are capable of safe manipulation. The combination of design parameters and additive manufacturing techniques enables the creation of customized and functional fingers that can adapt to various delicate objects.
- Performance and geometrical advantage of monolithic two-finger passive structure soft grippers for object grasping(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024) Valencia Licea, Roger Ariel; Roman Flores, Armando; emimmayorquin; Cuan Urquizo, Enrique; Vazquez Hurtado, Carlos; School of Engineering and Sciences; Campus MonterreyIn the context of Industry 4.0 robotics is a key technology, as this enables further automation and optimization of production processes. Research of soft grippers is about making robotic systems more versatile. The main contribution of this work is to study the effect of modifications in geometrical parameters, while maintaining constant material and topology, on the geometrical advantage of a monolithic two-finger passive structure with external motors soft gripper design. Geometrical advantage is a quantitative way to relate output displacement and input displacement in a dimensionless ratio of them. The gripper is studied via nonlinear finite element analysis (FEA) simulation, and experimental tests. The digital model predicts how the several variations of the gripper will behave in different situations. Then, experimental test confirms the simulation results with differences ranging from 3.7% to 7.9% error. The experimental test is conducted following the surface response methodology (SRM). Thus, an empirical model that describe the behavior of the grippers’ geometrical advantage in terms of width and length of a bending element on the gripper is obtained. The result show that the grippers are capable to grasp objects of various shapes and sizes. These findings suggest that soft robotic grippers can be studied within a virtual environment entirely. Allowing soft grippers to be made to suit Industry 4.0, leading to smarter, more responsive manufacturing.
- Design of a soft gripper with compliant mechanisms(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2021-12-06) Puente Flores, Alfredo; Román Flores, Armando; puemcuervo; Cuan Urquizo, Enrique; Vázquez Hurtado, Carlos; School of Engineering and Sciences; Campus Monterrey; Urbina Coronado, Pedro DanielRobotic manipulators can perform repetitive tasks at rates and accuracies that cannot be rivalled by those of human operators. Nowadays, they are rather ubiqitiuos and widely used in different fields. However, that is not all. Robotic manipulators have slowly started to incursion in fields other than manufacturing like that of medicine and agriculture. Because of the wide variety of fields that currently employ robotic manipulators, tasks can be more complex than the usual ones. For this reason, traditional mechanical grippers are not always adequate and there is currently a high demand for grippers that can effectively adapt to grasp a wider variety of objects – especially those that aree fragile or deformable – without damaging them. Current grippers are mostly made of mechanical linkages what makes them stiff and non-adaptive, which is a disadvantage when attempting to grasp delicate objects. Soft grippers can be an adequate solution for this problem and have gained attention in recent years. Although some models have been presented in the literature, they have several drawbacks. This work presents the design of a novel soft gripper that can adapt to the shape of the object. Experiments were conducted to validate the proposal.