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All Journal Jurnal Informatika dan Teknik Elektro Terapan POROS TEKNIK Jurnal Noken: Ilmu-Ilmu Sosial INTECOMS: Journal of Information Technology and Computer Science JURNAL PENDIDIKAN TAMBUSAI International Journal of Social Service and Research Shautuna: Jurnal Ilmiah Mahasiswa Perbandingan Mazhab Prosiding Seminar Nasional Biologi, Teknologi dan Kependidikan (Biotik) Sisfo: Jurnal Ilmiah Sistem Informasi Sewagati PARAPOLITIKA: Journal Of Politics and Democracy Studies Transcendent Journal of Mathematics and Applications VISA: Journal of Vision and Ideas Al-Ihtiram: Multidisciplinary Journal of Counseling and Social Research DISCOURSE : Indonesian Journal of Social Studies and Education Indonesian Journal of Islamic Law (IJIL) Jurnal Audit, Pajak, Akuntansi Publik Jurnal Transportasi dan Bahari (ALTAIR) Journal of Engineering and Technological Sciences
Saputra, Ilham
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Journal : Journal of Engineering and Technological Sciences

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Design and Application of a Kirigami-Based Soft Robotic Gripper using Finite Element Analysis Gomes, Efrem Olivio; Chang, Shyang-Jye; Saputra, Ilham
Journal of Engineering and Technological Sciences Vol. 57 No. 4 (2025): Vol. 57 No. 4 (2025): August
Publisher : Directorate for Research and Community Services, Institut Teknologi Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5614/j.eng.technol.sci.2025.57.4.3

Abstract

The demand for adaptable and efficient soft robotic grippers has grown due to their potential applications in industries such as food handling, manufacturing, and logistics. This study explores a Kirigami-based soft robotic gripper, designed to handle a wide range of objects with minimal risk of damage. The gripper utilizes a Kirigami-inspired structure combined with Liquid Silicone Rubber (LSR CN-251), chosen for its flexibility, durability, and food-safe properties. Finite element analysis was conducted to analyze the gripper’s mechanical performance under tensile forces ranging from 0.1 N to 4.3 N, focusing on stress distribution and deformation. Experimental validation was performed to verify the simulated results and assess the gripper’s performance in real-world scenarios. The simulations revealed predictable stress distribution and controlled deformation, with experimental tests demonstrating the gripper’s successful handling of delicate items, irregular objects, heavier item, and others. The Kirigami structure’s passive force distribution enabled a secure yet gentle grip, minimizing the risk of damage. The gripper’s adaptability, flexibility, and lightweight construction were confirmed in these tests. Manufactured from food-safe LSR, the gripper presents a cost-effective and efficient alternative to traditional pneumatic or jamming-based grippers. Limitations in the experimental setup, such as the restricted range of the uArm Swift Pro, were noted, and future research should explore dynamic performance under real-world conditions, enhance the range of motion, and integrate sensory feedback for improved precision.
Co-Authors Achmad Suryadi Nasution Ahmad, M. Ridwan Said Alhanannasir, Alhanannasir Amelia, Devi Amin, Abd. Rauf Muhammad Anderson, Ranap Angraini, Ria Apriade Voutama Ari Purnawan Ayu, Fidia Banggu, Masni Berlian, Alviona Bukhari Bukhari Chang, Shyang-Jye Dea Rizky Amalia Putri Ditta Kharisma Yolanda Putri FAQIH, ABDULLAH Gomes, Efrem Olivio Hartati, Diah Vitaloka Hayatul Khairul Rahmat Idealistuti, Idealistuti Jufri , Agustion Laila, Dwi Nuraini Mardianto, Lutfi Muhammad afrizal Mulawarman Murtado, Asep Dodo Musyfikah Ilyas, Musyfikah Ni Luh Darmayanti Nofriadi Nofriadi Nurmala, Eka Oktaviani, Melinda Parameswara, Prasetyo Prisiantika, Intan Rahmaddeni Rahmaddeni Rahmi Rahmi Ravitilova, Ravitilova Rinda, Rinda Rosidha, Anisa Nur Sari, Difka Augustina Diana Satria, Riyan Sebayang, Nico Setiyoko, Didik Tri Surbakti , Valina Singka Tusriadi Widjatma, Ridho Rahadina Yuli Yetri Zamzamia, Izatun Zuhriah Mumtazah Zulqarnain, A Muhammad Iman