Development of Isometrical 3-Finger Underactuated Robot Gripper

Amirul Syafiq Sadun,Jamaludin Jalani,Jumadi Abdul Sukor,Megat Satria Zainuddin Yaacob,Mohd Nizam Katimon,Mohammad Afif Ayob,Suziana Ahmad

2020 IEEE 8th R10 Humanitarian Technology Conference (R10-HTC)（2020）

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Abstract

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.

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Key words

3-Finger robotic gripper,rapid prototyping,electromechanical actuator,FEA

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