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<p>4D printing technology has enhanced manufacturing processes by enabling materials to dynamically change their shapes over time in response to external stimuli. Shape memory polymers (SMP) stand out as leading materials choice for 4D printing due to its flexibility and versatility, along with a wide range of applications. This research explores the impact of cross-sectional shape design on the deformability of gripper finger, aiming to explore potential applications in soft robotics and self-morphing structures. Seven cross-sections geometric with various dimensions and shapes, namely, triangle, semi-circle, and rectangle, are proposed and investigated. Dimensional variations in terms of gap distance and fin thickness are created and activated using air and water heat stimuli. The study examines how cross-sectional shapes with different dimensional variations influence the shape-memory effect of finger actuators’ performance. The self-deflection height of the gripper fingers ranges from 0.15 to 4.39&#xa0;cm, with water heat stimulus promoting superior results compared to hot air stimulus. The optimal design variation was achieved by rectangle cross-sectional specimen with 3&#xa0;mm gap distance and 1&#xa0;mm fin thickness. The comparison of the gripper finger with and without fins confirmed that fins improve the deflection height. To validate the practical applications of these designs, a four-finger gripper was fabricated, it successfully demonstrated the holding capability of objects with diverse shapes, weights, and surface roughness.</p>

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Optimizing 4D-printed grippers: the role of finger design and thermal stimulus

  • 期刊论文

  • 发表日期：

    2025年1月24日

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  • Kushendarsyah Saptaji,
  • Ryan Antonio Wijaya,
  • Octarina Adiati Juniasih

摘要

4D printing technology has enhanced manufacturing processes by enabling materials to dynamically change their shapes over time in response to external stimuli. Shape memory polymers (SMP) stand out as leading materials choice for 4D printing due to its flexibility and versatility, along with a wide range of applications. This research explores the impact of cross-sectional shape design on the deformability of gripper finger, aiming to explore potential applications in soft robotics and self-morphing structures. Seven cross-sections geometric with various dimensions and shapes, namely, triangle, semi-circle, and rectangle, are proposed and investigated. Dimensional variations in terms of gap distance and fin thickness are created and activated using air and water heat stimuli. The study examines how cross-sectional shapes with different dimensional variations influence the shape-memory effect of finger actuators’ performance. The self-deflection height of the gripper fingers ranges from 0.15 to 4.39 cm, with water heat stimulus promoting superior results compared to hot air stimulus. The optimal design variation was achieved by rectangle cross-sectional specimen with 3 mm gap distance and 1 mm fin thickness. The comparison of the gripper finger with and without fins confirmed that fins improve the deflection height. To validate the practical applications of these designs, a four-finger gripper was fabricated, it successfully demonstrated the holding capability of objects with diverse shapes, weights, and surface roughness.