Underactuated Modular Finger with Pull-in Mechanism for a Robotic Gripper

This paper presents an underactuated modular finger with a pull-in mechanism for a robotic gripper. Most existing robotic grippers do not have an infinite rotating mechanism. However, this movement has the potential for industrial applications such as pulling in and pushing out an object from the plane. Increasing functionality tends to lead to more operational difficulties. Therefore, we have developed a three-fingered underactuated gripper that not only grasps but also pulls in the object. We have described the design of a modular underactuated finger and a differential mechanism for the same. Lastly, to test the grasping and underactuated object-pulling-in capabilities of the gripper, we conducted experiments with objects of various shapes.