Design, fabrication, and experimental evaluation of a three-finger Fin Ray soft gripper

Hoang Bui Huy

doi:10.37636/recit.v9n3e502

Authors

Hoang Bui Huy VNU University of Engineering and Technology, Vietnam National University, Hanoi, Vietnam https://orcid.org/0009-0002-3446-210X

Competing Interests

No

DOI:

https://doi.org/10.37636/recit.v9n3e502

Keywords:

Soft gripper, Fin Ray effect, Additive manufacturing, TPU, Finite element simulation, Experimental validation, Robotic grasping

Abstract

This study presents the design, finite element analysis, fabrication, and experimental validation of a low-cost three-finger soft gripper based on the Fin Ray effect. The proposed system integrates TPU 95A compliant fingers, a PLA supporting structure, and an Arduino-controlled stepper-motor actuation mechanism. Several Fin Ray rib configurations were systematically evaluated using analytical modelling, finite element simulations, and experimental testing under a representative 5 N loading condition. The results showed that the contact region located approximately between one-half and two-thirds of the finger length produced the most effective deformation behavior. Among the investigated configurations, the curved-rib design achieved the largest displacement of approximately 14.45 mm while maintaining stable grasping performance. Good agreement was obtained between numerical predictions and experimental measurements, with deformation errors generally below 10% and a maximum error of 11.22%. The study establishes a reproducible CAD–FEA–3D printing experimental validation workflow and demonstrates a low-cost Fin Ray soft gripper platform that can support future research, rapid prototyping, and engineering education.

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