An Open-Source Reconfigurable Robotic Gripper with Detachable Fingers

A. Nurpeissova, A. Malik, S. Kabitkanov, A. Zhilisbayev, A. Shintemirov

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

1 Citation (Scopus)
133 Downloads (Pure)

Abstract

This paper presents a new open-source 3-fingered robotic gripper with a reconfigurable modular structure for extending the choice of reconfigurable robotic gripper designs freely available to robotics research community. Combination of unique design solutions, such as independent and modular (detachable) finger modules, which provide finger position and orientation reconfigurability and adaptivity to different shape objects, is experimentally demonstrated in a functional 3D-printed robotic gripper prototype. The proposed gripper prototype was built using off-the-shelf inexpensive components and 3D printing technology, ensuring low manufacturing cost and replicability. The paper also outlines the gripper control and demonstrates its performance in grasping different shape objects. The open-source design of the presented robotic gripper will be freely available for downloading from the authors' research lab web-site https://www.alaris.kz and https://github.com/alarisnu/alaris_LCRDF_Gripper upon further modernization, outlined in the future work discussion.
Original languageEnglish
Title of host publicationMESA 2022 - 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Proceedings
PublisherIEEE
Number of pages6
ISBN (Electronic)978-1-6654-5570-1
DOIs
Publication statusPublished - 10 Jan 2023
MoE publication typeA4 Conference publication
EventIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Taipei, Taiwan, Republic of China
Duration: 28 Nov 202230 Nov 2022
Conference number: 18

Conference

ConferenceIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Abbreviated titleMESA
Country/TerritoryTaiwan, Republic of China
CityTaipei
Period28/11/202230/11/2022

Keywords

  • Mechatronics
  • Shape
  • Fingers
  • Prototypes
  • Grasping
  • Three-dimensional printing
  • Manufacturing
  • robotic gripper
  • robotic end-effector
  • reconfigurable kinematics
  • reconfigurable gripper
  • adaptive gripper
  • mechatronic design

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