Title: Optimising the design and development of bio-inspired soft robotic grippers: a Taguchi-based approach enhanced by TOPSIS multi-objective technique

Authors: Prabhu Sethuramalingam; Arvindkumar Ranganathan; M. Uma; M.M. Reddy

Addresses: Department of Mechanical Engineering, SRM Institute of Science and Technology, Kattankulathur, Chennai – 603203, India ' Department of Mechanical Engineering, SRM Institute of Science and Technology, Kattankulathur, Chennai – 603203, India ' Department of Computational Intelligence, SRM Institute of Science and Technology, Kattankulathur, Chennai – 603203, India ' Department of Mechanical Engineering, Curtin University, Miri, CDT 250, Malaysia

Abstract: This study presents the design and optimisation of a bellow-type soft robotic gripper inspired by a bird's claw, featuring distinct flexible finger and rigid claw sections for enhanced gripping. Traditionally fabricated using elastomers via casting, recent advances in additive manufacturing enable the use of flexible thermoplastic urethane filaments. Achieving a balance between flexibility and output force poses a key challenge, addressed here using finite element analysis combined with design of experiment (DOE) techniques, including Taguchi analysis, AHP, and TOPSIS. Regression analysis explores input-output relationships, while ANOVA validates result variations. The multidisciplinary approach supports systematic optimisation for applications in flexible robotics and automation. TOPSIS and Taguchi methods identified optimal finger designs with bending angles of 143° and 158° and stresses of 0.97444 MPa and 1.1119 MPa. For the claw section, optimal angles of 124° and 119° with stresses of 3.1757 MPa and 3.1670 MPa were achieved. [Submitted 2 March 2024; Accepted 27 September 2025]

Keywords: finite element analysis; FEA; Taguchi analysis; regression analysis; analysis of variance; ANOVA; analytical hierarchy process; AHP; TOPSIS.

DOI: 10.1504/IJMR.2025.150044

International Journal of Manufacturing Research, 2025 Vol.20 No.1, pp.107 - 129

Accepted: 27 Sep 2025
Published online: 23 Nov 2025 *

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