隨著工業4.0與物聯網的發展，智慧型感測夾爪在市場上的需求性越來越高，本論文開發出一種使用3D列印技術所製成之氣動式柔性夾爪，整體選用熱塑性聚氨酯（TPU）材料所製成，具有一定柔性且充滿氣時又具有一定力度能夠夾取物體且能避免夾傷物體表面與掉落；使用3D列印方式製造，具有修改夾爪設計快速、製造成本低、且不需繁複的製程，效率大幅提高。
本論文除了開發3D列印之柔性夾爪，還搭載上智慧型感測的能力，夾爪上裝置之PVDF-石墨烯薄膜壓電感測器，為聚偏氟乙烯（PVDF）與石墨烯混合所製作，透過石墨烯誘發PVDF自組排列，不須經過極化即具備壓電性，且利用石墨烯本身的高導電性，不須安裝電極即可收集機械能作動後所產生的壓電訊號。
本論文為此新型感測器透過準靜態方法做了一系列標準化實驗，量測在不同曲率下之電響應係數。後續套用於柔性夾爪收集訊號，分析訊號回推夾爪施力，並同時夾取彈簧，與彈簧變形量所推算出來的力進行驗證比對。在未來使用者可根據不同的曲率條件，套用本論文所建立之不同曲率壓電感測器電響應係數模型，得到施力大小。

With the development of Industry 4.0 and the Internet of Things, smart sensing grippers are becoming more and more demanding in the market. This study presented a pneumatic flexible gripper made by 3D printing. It is made of thermoplastic polyurethane (TPU) material, which has a certain degree of flexibility and can be driven pneumatically, and Improve the shortcomings of rigid grippers that easily damage objects. The manufacture of 3D printing modifies the flexible gripper design is fast, the manufacturing cost is low and greatly improved the manufacturing process efficiency.
The 3D printing soft gripper is also equipped with smart sensing capabilities, using a PVDF-graphene film piezoelectric sensor. This piezoelectric sensor is made by mixing polyvinylidene fluoride (PVDF) and graphene. PVDF self-assembly is induced through graphene, which is piezoelectric without polarization. And take advantage of the high conductivity of graphene itself, the piezoelectric signal generated by mechanical energy can be collected without installing electrodes.This study has done a series of quasi-static standardized experiments for PVDF-graphene film piezoelectric sensors. Measure the electrical response coefficient under different curvature's designs. And used the collect signal from the flexible gripper to regression analyze the push back force, at the same time, clamp the spring to measure the force for verification and comparison between two forces.
In the future, depending on different curvature conditions, the user can apply the electrical response coefficient model of the piezoelectric sensor with different curvatures presented in this study, get the magnitude of the force.

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