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Inventions 2018, 3(1), 4; doi:10.3390/inventions3010004

A Reconfigurable Gripper for Dexterous Manipulation in Flexible Assembly

Laboratory for Manufacturing Systems and Automation, Department of Mechanical Engineering and Aeronautics, University of Patras, 265 04 Patras, Greece
Author to whom correspondence should be addressed.
Received: 9 November 2017 / Revised: 31 December 2017 / Accepted: 5 January 2018 / Published: 10 January 2018
(This article belongs to the Section Inventions and innovation in Advanced Manufacturing)
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In this paper, a high-speed multi-fingered reconfigurable gripper is presented. The aim is to create a robotic end effector that is capable of handling parts of different geometries and weight. It consists of three fingers, accounting for a total of eight Degrees of Freedom (DoFs). The paper discusses the design, control, and reconfiguration aspects of the gripper, and demonstrates its applicability to different manipulation tasks. The gripper has the ability of high-force movement and its high number of DoFs enables it to grasp a large variety of geometries, while retaining the design simplicity. The preliminary grasping experiments highlight its potential in robotic handling applications in both research and production environments. View Full-Text
Keywords: gripper; reconfigurable end effector; robotic manipulation; industrial robot; assembly gripper; reconfigurable end effector; robotic manipulation; industrial robot; assembly

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Spiliotopoulos, J.; Michalos, G.; Makris, S. A Reconfigurable Gripper for Dexterous Manipulation in Flexible Assembly. Inventions 2018, 3, 4.

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