Development of Isometrical 3-Finger Underactuated Robot Gripper

This paper demonstrates the design and development of 3-Finger robotic gripper using a 3D printer (Polylactic acid or PLA materials). The gripper is developed based on the underactuated mechanism using electromechanical actuator and gear train transmission system for gripping and un-gripping an obje...

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Bibliographic Details
Main Authors: Sadun, Amirul Syafiq, Jalani, Jamaludin, Sukor, Jumadi Abdul, Yaacob, Megat Satria Zainuddin, Katimon, Mohd Nizam, Ayob, Mohammad Afif, Ahmad, Suziana
Format: Conference Proceeding
Language:English
Subjects:
3-Finger robotic gripper
electromechanical actuator
Fabrication
FEA
Grippers
Programmable logic arrays
Prototypes
rapid prototyping
Robots
Solids
Three-dimensional printing
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Summary:This paper demonstrates the design and development of 3-Finger robotic gripper using a 3D printer (Polylactic acid or PLA materials). The gripper is developed based on the underactuated mechanism using electromechanical actuator and gear train transmission system for gripping and un-gripping an object in a cylindrical and spherical shape. Analysis of the prototype structure and the gripper is done to observe the angle movement of each individual finger and presented.
ISSN:2572-7621
DOI:10.1109/R10-HTC49770.2020.9356989