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An Open-Source 3D Printed Three-Fingered Robotic Gripper for Adaptable and Effective Grasping.

Francisco Yumbla¹, Emiliano Quinones Yumbla², Erick Mendoza¹

¹Facultad de Ingeniería en Mecanica y Ciencias de la Producción, Escuela Superior Politecnica del Litoral, ESPOL, Campus Gustavo Galindo, Km. 30.5 Vía Perimetral, Guayaquil 090902, Ecuador.

Biomimetics (Basel, Switzerland)

|January 24, 2025

Summary

This study presents a low-cost, adaptable robotic gripper designed with 3D printing for industrial use. The gripper effectively grasps various objects, offering an economical solution for robotic manipulation.

Keywords:

adaptive gripper additive manufacturing force sensor robotic arm

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Area of Science:

Robotics
Additive Manufacturing
Mechanical Engineering

Background:

Robotic grippers are crucial for automation in industrial and research settings.
Existing solutions can be costly and lack adaptability.
Need for cost-effective, easily integrable robotic end-effectors.

Purpose of the Study:

To design and develop a low-cost, efficient, and reliable three-finger adaptive gripper.
To enable easy integration with various robot arms.
To provide a scalable solution for robotic manipulation.

Main Methods:

Utilized additive manufacturing (3D printing) with Polylactic Acid (PLA) and Thermoplastic Polyurethane (TPU).
Performed stress analysis and simulations for component refinement.
Integrated a Proportional-Integral-Derivative (PID) controller for precise control.
Ensured design for cost-effective maintenance with locally available parts.

Main Results:

The adaptive gripper successfully grasped diverse objects like a soda can and a pencil.
Demonstrated effective integration and precise control on an actual robotic arm.
Validated the gripper's performance under load through simulations and tests.

Conclusions:

The developed three-finger adaptive gripper is a scalable and economical solution.
Additive manufacturing enables the creation of efficient and reliable robotic end-effectors.
This research contributes significantly to advancing robotic manipulation in industrial applications.