Design and fabrication of a soft sensor for gripper applications through multi-material 3D printing

Abstract

3D printing has gained popularity in recency from the benefits of reducing material waste and its relative ease of access to industrial sectors and the average consumers. With advancements in 3D printing, coupled with a wider range of materials now available, more traditional manufacturing applications are able to integrate 3D printing into their operations. One such application that could see an increase in 3D printing fabrication methods would be in tactile sensors using conductive materials. 3D printed sensors would be a very impactful advancement in sensors as it would allow for better integrations of sensors on to robotics, allowing for intricate designs not common to current technologies.

In this final year research project, the printability and compatibility of multi-material 3D printed soft tactile sensor fabrication was explored to identify an optimal dielectric layer design and fabrication parameters that can be implemented on future soft robotic parts. This report will serve to provide an in-depth recount of the steps that the author has taken from research on the topic, fabrication of the sensor, testing and finally identification of the most optimal design.

Detailed steps and parameters have also been added into the report to aid with the fabrication process of the sensor in the future. Testing apparatus and its set-up have been discussed in detail as well for further testing of potential sensor designs that can be explored in future studies.