An Open-Source 3D Printed Underactuated Robotic Gripper

被引：0
|
作者：
Tlegenov, Yedige [1 ]
Telegenov, Kuat [1 ]
Shintemirov, Almas [1 ]
机构：
[1] Nazarbayev Univ, Dept Robot & Mechatron, Astana 010000, Kazakhstan
来源：
2014 IEEE/ASME 10TH INTERNATIONAL CONFERENCE ON MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS (MESA 2014) | 2014年
关键词：
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
In this paper authors present an open source lowcost 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.
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页数：6
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