Preliminary design of a three-finger underactuated adaptive end effector with a breakaway clutch mechanism

Kuat Telegenov, Yedige Tlegenov, Shahid Hussain, Almas Shintemirov

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


Commercially available robotic grippers are often expensive and not easy to modify for specific purposes of robotics research and education. To extend the choice of robotic end effectors available to researchers, this paper presents the preliminary work on prototype design and analysis of a three-finger underactuated robotic end effector with a breakaway clutch mechanism suitable for research in robot manipulation of objects for industrial and service applications. Kinematic models of the finger and the breakaway clutch mechanisms are analyzed aiming to define selection criteria of design parameters. Grasping performance of the end effector prototype manufactured with a 3D printing technology and off-the-shelf components is evaluated using simulation and experimental analyses. Comparison with widely applied available robotic end effectors shows the potential advantages of the proposed end effector design.

Original languageEnglish
Pages (from-to)496-503
Number of pages8
JournalJournal of Robotics and Mechatronics
Issue number5
Publication statusPublished - Oct 2015


  • 3D printing
  • Adaptive grasping
  • Breakaway clutch mechanism
  • Gear train mechanism
  • Underactuated robotic end effector

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering

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