A low-cost open-source 3-D-printed three-finger gripper platform for research and educational purposes

Kuat Telegenov, Yedige Tlegenov, Almas Shintemirov

    Research output: Contribution to journalArticle

    16 Citations (Scopus)

    Abstract

    Robotics research and education have gained significant attention in recent years due to increased development and commercial deployment of industrial and service robots. A majority of researchers working on robot grasping and object manipulation tend to utilize commercially available robot-manipulators equipped with various end effectors for experimental studies. However, commercially available robotic grippers are often expensive and are not easy to modify for specific purposes. To extend the choice of robotic end effectors freely available to researchers and educators, we present an open-source low-cost three-finger robotic gripper platform for research and educational purposes. The 3-D design model of the gripper is presented and manufactured with a minimal number of 3-D-printed components and an off-the-shelf servo actuator. An underactuated finger and gear train mechanism, with an overall gripper assembly design, are described in detail, followed by illustrations and a discussion of the gripper grasping performance and possible gripper platform modifications. The presented open-source gripper platform computer-aided design model is released for downloading on the authors research lab website (www.alaris.kz) and can be utilized by robotics researchers and educators as a design platform to build their own robotic end effector solutions for research and educational purposes.

    Original languageEnglish
    Article numberA39
    Pages (from-to)638-647
    Number of pages10
    JournalIEEE Access
    Volume3
    DOIs
    Publication statusPublished - 2015

    Fingerprint

    Grippers
    Robotics
    End effectors
    Costs
    Robots
    Manipulators
    Gears
    Websites
    Computer aided design
    Actuators
    Education

    Keywords

    • 3D printing
    • adaptive grasping
    • gear train mechanism
    • open-source robotic gripper
    • underactuation

    ASJC Scopus subject areas

    • Computer Science(all)
    • Engineering(all)
    • Materials Science(all)

    Cite this

    A low-cost open-source 3-D-printed three-finger gripper platform for research and educational purposes. / Telegenov, Kuat; Tlegenov, Yedige; Shintemirov, Almas.

    In: IEEE Access, Vol. 3, A39, 2015, p. 638-647.

    Research output: Contribution to journalArticle

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