An open source, 3D printed, underactuated robotic gripper.

3D Printed Robotic Gripper 1

The three-fingered robotic gripper consisting of the three 2-DOFs underactuated fingers, a base, a palm, a gear train set, and an actuator.The fingers are attached in a circular way with 120 degrees between each other. This allows the worm wheels of the fingers to be driven from a single actuator via the actuating worm. This type of layout of the fingers is preferable for grasping spherical or cylindrical objects of different sizes.The gripper has a simple design and relatively higher payload property comparing to similar size tendon driven mechanisms.The 3-D design model of the gripper is manufactured with a minimal number of 3-D-printed components and an off-the-shelf servo actuator.

Describes the design and prototype assembly of the robotic gripper including underactuated finger and gear train design and analysis. The grasping performance of the gripper prototype is presented, followed by the discussion on possible design modifications.



A Low-Cost Open-Source 3-D-Printed Three-Finger Gripper Platform for Research and Educational Purposes 

Describes the design and manufacturing of the 3D printed three-fingered robotic gripper and the grasping performance of the robotic gripper prototype Also the conclusions and future work is presented.



An Open-Source 3D Printed Underactuated Robotic Gripper

Describes the design of the finger mechanism, gripper, and the breakaway clutch mechanism. The grasping performance and simulation of the robotic gripper are analyzed. Lastly, future directions of the project are discussed.



An underactuated adaptive 3D printed robotic gripper

Describes the project and has more video's. Also contains a link to the open source designs.



3D printed robotic gripper project website

Degrees of freedom (DOF)	

Servo 

Output torque	 

Power	

Software 

Fabrication technique	 

Material 

Weight 

Costs	

An open source, 3D printed underactuated robotic gripper which allows developers to modify the design for both research and educational purposes.



Degrees of freedom (DOF)	2
Servo	Dynamixel MX-28
Output torque	2.5	Nm
Power	12	V
Software	MATLAB or C/C++ Robot Operating System (ROS)
Fabrication technique	3D-printing