RT info:eu-repo/semantics/doctoralThesis
T1 Contribuciones al diseño y modelado de garras robóticas multifunción con materiales deformables
T2 Contributions to the design and
modelling of multifunctional robotic
grippers with deformable materials
A1 Navas Merlo, Eduardo
A2 Universidad de Valladolid. Escuela de Doctorado
K1 Robótica
K1 Soft Robotics
K1 Robótica Blanda
K1 Soft Grippers
K1 Garras Blandas
K1 Additive Manufacturing
K1 Fabricación Aditiva
K1 Agriculture 4.0
K1 Agricultura 4.0
K1 33 Ciencias Tecnológicas
AB The adoption of robotic manipulation in industrial settings has reached significant maturity, enabling process automation, efficiency gains, and cost reductions. However, applying similar technologies to sectors such as agriculture remains an underexplored challenge. Agriculture requires robotic systems capable of safely operating in unstructured environments, handling delicate objects like fruits and vegetables, and ensuring compatibility with dynamic and unpredictable tasks. Soft robotics, characterized by the use of compliant and adaptable materials, emerges as a transformative solution for these challenges. By utilizing materials with elasticity moduli comparable to biological tissues such as muscles or skin, soft robotics enables precise manipulation and interaction with the environment, making it particularly suitable for agricultural applications.This thesis investigates the potential of soft robotics in agriculture, focusing specifically on the design, modelling, and control of soft grippers for harvesting tasks and pick-and-place operations. Through the development of three soft gripper designs, this research explores the use of advanced materials such as thermoplastic elastomers (TPE) and polydimethylsiloxane (PDMS), alongside manufacturing techniques like 3D printing and moulding, to create prototypes designed with an emphasis on cost-effectiveness, modularity, and adaptability. These grippers were tested in real-world conditions using dual-arm robotic systems, showcasing their suitability for handling high-value crops in unstructured environments.The research also introduces advanced simulation and modelling techniques to address the inherent complexities of soft actuators. Using methods such as the Sparse Identification of Nonlinear Dynamics (SINDy) algorithm, the thesis accurately characterizes actuator behaviour, minimizing the need for extensive experimental data. Finite Element Method (FEM) simulations were employed to model soft contact interactions and deformation under load, further refining the gripper designs. Virtual representations of objects, combined with real-time sensing, enhanced the development of grip planning strategies, ensuring precision and efficiency in dynamic agricultural tasks.Additionally, the thesis emphasizes the importance of quality control and standardization in soft robotics. Novel methodologies for performance assessment were developed, including computer vision-based techniques and tools for measuring displacement and contact forces. These efforts aim to establish benchmarks for the reliable integration of soft robotics into commercial and agricultural systems.In summary, this thesis bridges the gap between industrial soft robotics and agricultural needs, contributing innovative designs, methodologies, and control strategies for soft grippers. By addressing key challenges in material selection, modelling, and practical implementation, the research lays a foundation for advancing soft robotics in agriculture and other sectors that demand safe and adaptable robotic solutions.
YR 2025
FD 2025
LK https://uvadoc.uva.es/handle/10324/77835
UL https://uvadoc.uva.es/handle/10324/77835
LA eng
NO Escuela de Doctorado
DS UVaDOC
RD 21-sep-2025