Custom Lightweight Robot Spray Gripper

· Client  : Korean Institute of Footwear and Leather Technology (KIFLT)

· Role     : 

Supported the production of Lightweight, Part Consolidation Gripper, which is one of the EOAT (End of Arm Tooling) of cooperative robots 

for shoe manufacturing process automation, 

using composite materials and applying DfAM.

We decided to challenge the production of lightweight products by applying DfAM to the EOAT of cooperative robots used 

in the smart factory automated manufacturing process with KIFLT.

[Previous Spray Gripper Shape] 

Material : Steel, weight : 512g 


2 Parts that were processed using subtractive manufacturing 

and bending bolted together.

1. Changing Material and Manufacturing Method

Produced high-intensity, high-performance spray grippers 

by utilizing the freedom of shape, which is the advantage of 3D printing and composite materials.

→ Carbon Fiber & Composite material  
Subtractive Manufacturing & Bending 3DPrinting

Used Onyx as the base material and 

optionally reinforced carbon fiber where additional stiffness is required.

Onyx is a material consisting of plastic nylon and carbon monofiber,

If you reinforce carbon long-fiber, 

It will have a stiffness equivalent to Al6061

2. Geometric optimization

When using 3D printing, 

along with changing materials and processing methods,

 the most important element of the design optimization process has increased the efficiency of the parts. 

·  To create optimal design, Harvestance utilized Generative Design, which has recently become 

   a hot topic in the design industry.

·  Generative design is an AI-based automated design creation tool.

   It is useful for creating structurally optimized, consolidated designs based on processing methods,            materials, boundary conditions.

Initial Model

Generative Design

Final Model

3. Selecting 3D Printing Conditions

The optimal printing direction is determined by considering the location of the geometry that requires stiffness,

 and the area where the support will be generated is also considered.

For 3D printing of composite materials,

The printing process is also an important part.

The direction of printing changes the area where the carbon fiber can be reinforced.

4. 3D Printing

Markforged's 3D printer used in this application can easily remove support structures by hand, 

and has fewer scratches on the surface, making post-processing very convenient.

3D Printing Application


Original Model

Changing material + 3D Printing + Optimized design


Composite material  (Nylon 80% + Chopped Carbon 20%)



2 Parts

1 Part