An underactuated adaptive 3D printed robotic gripper

Kuat Telegenov; Yedige Tlegenov; Almas Shintemirov

doi:10.1109/MECATRONICS.2014.7018563

An underactuated adaptive 3D printed robotic gripper

Kuat Telegenov, Yedige Tlegenov, Almas Shintemirov

Department of Robotics and Mechatronics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Citations (Scopus)

Abstract

This paper presents the preliminary work on prototype design and analysis of a 3D printed three-fingered underactuated robotic gripper with a breakaway clutch mechanism. An underactuated mechanical design, kinematics of gripper's finger and a breakaway clutch mechanism are described in details. These elements provide passive adaptive object grasping and relatively high load carrying capacity of the gripper. The robotic gripper was prototyped using 3D printing technology and off-the-shelf components. Simulation and experimental results of grasping performance characterization of the robotic gripper are also presented.

Original language	English
Title of host publication	10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	110-115
Number of pages	6
ISBN (Electronic)	9781479957170
DOIs	https://doi.org/10.1109/MECATRONICS.2014.7018563
Publication status	Published - Jan 22 2014
Event	10th France-Japan/8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014 - Tokyo, Japan Duration: Nov 27 2014 → Nov 29 2014

Publication series

Name	10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014

Other

Other	10th France-Japan/8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014
Country	Japan
City	Tokyo
Period	11/27/14 → 11/29/14

ASJC Scopus subject areas

Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/MECATRONICS.2014.7018563

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Cite this

Telegenov, K., Tlegenov, Y., & Shintemirov, A. (2014). An underactuated adaptive 3D printed robotic gripper. In 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014 (pp. 110-115). [7018563] (10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MECATRONICS.2014.7018563

An underactuated adaptive 3D printed robotic gripper. / Telegenov, Kuat; Tlegenov, Yedige; Shintemirov, Almas.

10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 110-115 7018563 (10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Telegenov, K, Tlegenov, Y & Shintemirov, A 2014, An underactuated adaptive 3D printed robotic gripper. in 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014., 7018563, 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014, Institute of Electrical and Electronics Engineers Inc., pp. 110-115, 10th France-Japan/8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014, Tokyo, Japan, 11/27/14. https://doi.org/10.1109/MECATRONICS.2014.7018563

Telegenov K, Tlegenov Y, Shintemirov A. An underactuated adaptive 3D printed robotic gripper. In 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 110-115. 7018563. (10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014). https://doi.org/10.1109/MECATRONICS.2014.7018563

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