TriCoM Gripper–Part II: Soft Pad Integration and Virtual Prototyping for Delicate Object Handling

The increasing demand for robotic systems capable of handling delicate objects, particularly in industries such as agriculture and food processing, has led to significant advancements in the development of soft robotic grippers. This paper presents the design, integration, and evaluation of soft pads for a 3-finger compliant monolithic (TriCoM) gripper, specifically tailored to handle fragile items like soft produce. The research focuses on the balance between the softness required to prevent damage and the stiffness necessary to maintain a secure grip. Finite Element Method (FEM) simulations were conducted to explore the relationship between soft pad thickness and stiffness, leading to the development of differentiated soft pads incorporating voids to optimize performance. Virtual prototyping, using an apricot as a test object, demonstrates that the proposed gripper and pads can achieve damage-free grasping with minimal deformation. The results validate the effectiveness of the design in maintaining both a gentle touch and a secure hold, offering a promising solution for delicate object handling in robotic applications.