Design and development of an integrated diagnostic pneumatic end effector using soft robotics and IOT.

The paper explore the design, development, and integration of a contact sensor and a 3D printed flex sensor using a carbon-based conductive fllament, the research focuses on the improvement of the way we monitor the behavior of an end effector, thanks to the integration of the strain gauge and a contact sensor we are able to develop a fault diagnosis system this enables the detection of anomalies and potential failures. In order to achieve a real-time monitoring and analysis of the behavior of the end effector, the embedded sensors are integrated with an Internet of Things (IoT) framework under the MQTT protocol. This integration provides a data acquisition, transmission, and analysis of the signals received by the embedded sensors, this enables a visual monitor of end-effector performance, thanks to the development of an user friendly IOT based interface. This research makes a valuable contribution to the field of soft robotics by emphasizing the potential of utilizing 3D printing technologies to create strain gauge sensors that offer customization and cost-effectiveness. The ability to fabricate these sensors through 3D printing opens up new possibilities for advancements in robotic systems. By integrating these sensors, it becomes possible to monitor and analyze the behavior of an end effector in real-time, enabling continuous performance monitoring.