International Journal of
Advanced Multidisciplinary Application

Volume 2, Issue 12

• Author(s)Aanjnay Maan Singh, Hitendra Vaishnav
• AffiliationJamnabai Narsee International School
• Page No.31-42
• Volume, Issue & YearVolume 2 Issue 12 , Dec-2025
• Published On2025/12/30
• JournalInternational Journal of Advanced Multidisciplinary Application (IJAMA)
• ISSN No.3048-9350
• DOIhttps://doi.org/10.5281/zenodo.17941570

Article Indexing

Abstract

Soft grippers signify an important development in soft robotics, granting the ability to safely, effectively, and efficiently manipulate sensitive, nonlinear, or variable-sized objects across many applications from healthcare, food processing, logistics, and human robot collaboration. The two main aspects of any soft gripper's performance are due to fundamental design properties: internal structural geometry and material properties. Not only have previous studies typically assessed these variables in isolation, but there are also few experimental studies assessing their interplay. We present comparative experiments to evaluate the effects of internal geometrical design structures on the performance of 3D-printed TPU soft grippers a highly elastic and durable thermoplastic elastomer, compatible with typical FDM printing processes. Three distinct internal geometries circular, linear, and zigzag were designed and 3D-printed to assess the effects of geometrical design on performance measures like grip force, deformation, adaptability, slip resistance, and durability. The grippers were integrated with a servo-driven gear-synchronized actuation mechanism and performance testing was conducted using force-sensitive resistors (FSRs) to evaluate gripping interaction forces. Experimental results reveal that the linear geometry achieves the highest grip force and slip resistance, the circular geometry provides the greatest adaptability and deformation range, and the zigzag geometry offers a balanced compromise between strength and flexibility with superior long-term durability. These findings highlight the trade-offs between stiffness and compliance inherent in internal geometrical design and emphasize the necessity of jointly considering material properties and geometry when developing application-specific soft grippers.

Keywords: Soft Gripper

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