TY - GEN
T1 - An Open-Source Reconfigurable Robotic Gripper with Detachable Fingers
AU - Nurpeissova, Ayaulym
AU - Malik, Asset
AU - Kabitkanov, Sanzhar
AU - Zhilisbayev, Alikhan
AU - Shintemirov, Almas
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
KW - adaptive gripper
KW - mechatronic design
KW - reconfigurable gripper
KW - reconfigurable kinematics
KW - robotic end-effector
KW - robotic gripper
UR - http://www.scopus.com/inward/record.url?scp=85146878143&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85146878143&partnerID=8YFLogxK
U2 - 10.1109/MESA55290.2022.10004392
DO - 10.1109/MESA55290.2022.10004392
M3 - Conference contribution
AN - SCOPUS:85146878143
T3 - MESA 2022 - 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Proceedings
BT - MESA 2022 - 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2022
Y2 - 28 November 2022 through 30 November 2022
ER -