INDEX Gripper: Industrial Dexterous Robotic Gripper Capable of All-Orientational Object Manipulation
Year: 2024
Type: paratext
Abstract: To advance research and industrial applications of robotic systems, enhancing object manipulation capabilities is crucial. This study introduces the INDEX gripper, an industrial dexterous robotic gripper designed to efficiently grasp objects of various shapes and precisely manipulate their orientations. The gripper features a 3-finger, 9-degree-of-freedom (DOF) linkage-driven mechanism. Its kinematic structure incorporates four four-bar linkages, enabling active 3-DOF motion for each finger. Developed through kinematic analysis, the INDEX gripper is capable of performing multiple grasping postures and accurately manipulating objects in all orientations within its grasp. Experimental results demonstrated a maximum fingertip force of 40.6 N, a payload capacity of 12.2 kg, and a repeatability error of less than 0.0244 mm. The gripper successfully grasped 15 objects of different shapes and manipulated a spherical object by 27.6$^\circ$along thex-axis, 34.2$^\circ$along they-axis, and 98.3$^\circ$along thez-axis. In addition, the gripper was tested in two industrial tasks: installing a light bulb and performing a bolting process using a driver. These tasks validated the gripper's effectiveness and reliability in industrial applications.
Institutions: Ajou University, Korea Institute of Machinery & Materials
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
Estimated APC paid: $2,495
OpenAlex ID: W4404563716