An open-source 3D printed underactuated robotic gripper

Yedige Tlegenov, Kuat Telegenov, Almas Shintemirov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Citations (Scopus)

Abstract

In this paper authors present an open source low-cost basic robotic end effector platform for facilitating research on robotic grasping. The 3D design model of a three fingered underactuated robotic gripper is presented and manufactured with minimal number of 3D printed components and an off-the-shelf servomotor actuator. An underactuated finger, gear train mechanisms and an overall gripper assembly design are described in details followed by illustration and discussion of grasping of objects with various geometries. The presented open source gripper design will be released for downloading on the authors' research lab web-site www.alaris.kz and can be useful for robotic researchers as a platform to build their own robotic end effector solutions for research and educational purposes.

Original languageEnglish
Title of host publicationMESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479922802
DOIs
Publication statusPublished - Oct 24 2014
Event10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2014 - Senigallia, Ancona, Italy
Duration: Sep 10 2014Sep 12 2014

Publication series

NameMESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings

Other

Other10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2014
CountryItaly
CitySenigallia, Ancona
Period9/10/149/12/14

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Tlegenov, Y., Telegenov, K., & Shintemirov, A. (2014). An open-source 3D printed underactuated robotic gripper. In MESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings [6935605] (MESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MESA.2014.6935605