Single-Fingered Reconfigurable Robotic Gripper With a Folding Mechanism for Narrow Working Spaces

TL;DR

This paper introduces a novel single-finger reconfigurable robotic gripper with a folding mechanism, capable of switching between insertion and grasping modes using a single motor, suitable for narrow spaces.

Contribution

It presents a new reconfigurable gripper design with mode switching via active or passive mechanisms, simplifying control for grasping in tight spaces.

Findings

Minimum insertion width for grasping is 4 mm.

Passive rotation aids in mode switching.

Experimental validation confirms effectiveness.

Abstract

This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only a single motor. In the insertion mode, the finger assumes a thin shape such that it can insert its tip into a narrow space. The grasping mode of the finger is activated through a folding mechanism. Mode switching can be achieved in two ways: switching the mode actively by a motor, or combining passive rotation of the fingertip through contact with the support surface and active motorized construction of the claw. The latter approach is effective when it is unclear how much finger insertion is required for a specific task. The structure provides a simple control scheme. The performance of the proposed robotic gripper design and control methodology was experimentally evaluated. The minimum width of the insertion space required to grasp an object is 4 mm (1 mm, when using a strategy).