Development of a Robotic Manipulator for Grasping Deformable Objects: A Case Study

Abstract

The manipulation of deformable objects without inflicting damage is a critical requirement in automating fish processing. This work details the development of a pneumatically actuated soft robotic manipulator designed for use in combination with a Stäubli TX2-60 arm. Key objectives included minimization of weight, integration into an existing system, hygienic design, and slip-free grasping of fish. Through iterative prototyping, a gripper is fabricated using 3D-printed carbon fiber-reinforced polylactic acid (PLA) and Festo DHAS-120 adaptive fingers. The final design incorporates four finger pairs and structural reinforcements to optimize stability and contact area. Testing confirmed that the prototype, successfully grasps fish without damage while adhering to payload and environmental constraints. These results validate the efficacy of soft robotic structures for gentle, hygienic automation in the food industry.