الفهرس 
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Abstract
This thesis focuses on the design, implementation, and control of two main components: a soft robotic gripper using the PneuNets technique and a series elastic actuated robotic arm. The goal is to develop a system capable of safely picking and placing fragile objects.
In the first part of the thesis, the soft robotic gripper is designed, implemented, and controlled. Two modeling techniques, namely Finite Element Analyses and data-driven modeling, are utilized to accurately represent the system. The gripper is specifically designed to handle delicate objects, and a full hand mechanism is incorporated to add an additional degree of freedom, enabling more versatile manipulation. The pneumatic actuation technique is employed to achieve soft and compliant gripping capabilities.
The second part of the thesis focuses on the design, implementation, and control of a series elastic actuated robotic arm with one degree of freedom. The design follows the Texas University series elastic actuation design, utilizing components predominantly sourced from the local market. Mathematical modeling and Simscape Multilink model are employed to capture the behavior of the system accurately. A PID controller is implemented to achieve precise control, and simulation results demonstrate satisfactory performance.
Finally, a conceptual design of a complete compliance robotic arm is presented, integrating the series elastic actuated robotic arm and the pneumatic actuated soft robotic gripper. This integration aims to leverage the advantages of both components, offering a comprehensive solution for manipulation tasks involving fragile objects.