Article ; Online: A compact underactuated gripper with two fingers and a retractable suction cup.
2023 Volume 10, Page(s) 1066516
Abstract: Modern industrial applications of robotics such as small-series production and automated warehousing require versatile grippers, i.e., grippers that can pick up the widest possible variety of objects. These objects must often be grasped or placed inside ... ...
| Abstract | Modern industrial applications of robotics such as small-series production and automated warehousing require versatile grippers, i.e., grippers that can pick up the widest possible variety of objects. These objects must often be grasped or placed inside a container, which limits the size of the gripper. In this article, we propose to combine the two most popular gripper technologies in order to maximise versatility: finger grippers and suction-cup (vacuum) grippers. Many researchers and a few companies have followed this same idea in the past, but their gripper designs are often overly complex or too bulky to pick up objects inside containers. Here, we develop a gripper where the suction cup is lodged inside the palm of a two-finger robotic hand. The suction cup is mounted on a retractile rod that can extend to pick up objects inside containers without interference from the two fingers. A single actuator drives both the finger and sliding-rod motions so as to minimise the gripper complexity. The opening and closing sequence of the gripper is achieved by using a planetary gear train as transmission between the actuator, the fingers and the suction cup sliding mechanism. Special attention is paid to minimise the overall gripper size; its diameter being kept to 75 mm, which is that of the end link of the common UR5 robot. A prototype of the gripper is built and its versatility is demonstrated in a short accompanying video. |
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| Language | English |
| Publishing date | 2023-04-17 |
| Publishing country | Switzerland |
| Document type | Journal Article |
| ZDB-ID | 2781824-X |
| ISSN | 2296-9144 ; 2296-9144 |
| ISSN (online) | 2296-9144 |
| ISSN | 2296-9144 |
| DOI | 10.3389/frobt.2023.1066516 |
| Database | MEDical Literature Analysis and Retrieval System OnLINE |
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