An Open-Source 3D Printed Three-Fingered Robotic Gripper for Adaptable and Effective Grasping
This research focuses on the design of a three-finger adaptive gripper using additive manufacturing and electromechanical actuators, with the purpose of providing a low-cost, efficient, and reliable solution for easy integration with any robot arm for industrial and research purposes. During the dev...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/10/1/26 |
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| author | Francisco Yumbla Emiliano Quinones Yumbla Erick Mendoza Cristobal Lara Javier Pagalo Efraín Terán Redhwan Algabri Myeongyun Doh Tuan Luong Hyungpil Moon |
| author_facet | Francisco Yumbla Emiliano Quinones Yumbla Erick Mendoza Cristobal Lara Javier Pagalo Efraín Terán Redhwan Algabri Myeongyun Doh Tuan Luong Hyungpil Moon |
| author_sort | Francisco Yumbla |
| collection | DOAJ |
| description | This research focuses on the design of a three-finger adaptive gripper using additive manufacturing and electromechanical actuators, with the purpose of providing a low-cost, efficient, and reliable solution for easy integration with any robot arm for industrial and research purposes. During the development phase, 3D printing materials were employed in the gripper’s design, with Polylactic Acid (PLA) filament used for the rigid mechanical components and Thermoplastic Polyurethane (TPU) for the flexible membranes that distribute pressure to the resistive force sensors. Stress analysis and simulations were conducted to evaluate the performance of the components under load and to gradually refine the design of the adaptive gripper. It was ensured that the mechanism could integrate effectively with the robotic arm and be precisely controlled through a PID controller. Furthermore, the availability of spare parts in the local market was considered essential to guarantee easy and cost-effective maintenance. Tests were conducted on an actual robotic arm, and the designed gripper was able to effectively grasp objects such as a soda can and a pencil. The results demonstrated that the adaptive gripper successfully achieved various types of grasping, offering a scalable and economical solution that represents a significant contribution to the field of robotic manipulation in industrial applications. |
| format | Article |
| id | doaj-art-f426bfc5e08140b0b02f843734a99737 |
| institution | Kabale University |
| issn | 2313-7673 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-f426bfc5e08140b0b02f843734a997372025-01-24T13:24:38ZengMDPI AGBiomimetics2313-76732025-01-011012610.3390/biomimetics10010026An Open-Source 3D Printed Three-Fingered Robotic Gripper for Adaptable and Effective GraspingFrancisco Yumbla0Emiliano Quinones Yumbla1Erick Mendoza2Cristobal Lara3Javier Pagalo4Efraín Terán5Redhwan Algabri6Myeongyun Doh7Tuan Luong8Hyungpil Moon9Facultad 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, EcuadorDepartment of Engineering Technologies, University of Puerto Rico, 2100 Ave. Sur, Carolina 00984, Puerto RicoFacultad 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, EcuadorFacultad 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, EcuadorFacultad 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, EcuadorFacultad 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, EcuadorResearch Institute of Engineering and Technology, Hanyang University, Asan 15588, Republic of KoreaDepartment of Mechanical Engineering, Sungkyunkwan University, 2066 Seobu-ro, Jangan-gu, Suwon 16419, Republic of KoreaDepartment of Mechanical Engineering, Sungkyunkwan University, 2066 Seobu-ro, Jangan-gu, Suwon 16419, Republic of KoreaDepartment of Mechanical Engineering, Sungkyunkwan University, 2066 Seobu-ro, Jangan-gu, Suwon 16419, Republic of KoreaThis research focuses on the design of a three-finger adaptive gripper using additive manufacturing and electromechanical actuators, with the purpose of providing a low-cost, efficient, and reliable solution for easy integration with any robot arm for industrial and research purposes. During the development phase, 3D printing materials were employed in the gripper’s design, with Polylactic Acid (PLA) filament used for the rigid mechanical components and Thermoplastic Polyurethane (TPU) for the flexible membranes that distribute pressure to the resistive force sensors. Stress analysis and simulations were conducted to evaluate the performance of the components under load and to gradually refine the design of the adaptive gripper. It was ensured that the mechanism could integrate effectively with the robotic arm and be precisely controlled through a PID controller. Furthermore, the availability of spare parts in the local market was considered essential to guarantee easy and cost-effective maintenance. Tests were conducted on an actual robotic arm, and the designed gripper was able to effectively grasp objects such as a soda can and a pencil. The results demonstrated that the adaptive gripper successfully achieved various types of grasping, offering a scalable and economical solution that represents a significant contribution to the field of robotic manipulation in industrial applications.https://www.mdpi.com/2313-7673/10/1/26adaptive gripperadditive manufacturingforce sensorrobotic arm |
| spellingShingle | Francisco Yumbla Emiliano Quinones Yumbla Erick Mendoza Cristobal Lara Javier Pagalo Efraín Terán Redhwan Algabri Myeongyun Doh Tuan Luong Hyungpil Moon An Open-Source 3D Printed Three-Fingered Robotic Gripper for Adaptable and Effective Grasping Biomimetics adaptive gripper additive manufacturing force sensor robotic arm |
| title | An Open-Source 3D Printed Three-Fingered Robotic Gripper for Adaptable and Effective Grasping |
| title_full | An Open-Source 3D Printed Three-Fingered Robotic Gripper for Adaptable and Effective Grasping |
| title_fullStr | An Open-Source 3D Printed Three-Fingered Robotic Gripper for Adaptable and Effective Grasping |
| title_full_unstemmed | An Open-Source 3D Printed Three-Fingered Robotic Gripper for Adaptable and Effective Grasping |
| title_short | An Open-Source 3D Printed Three-Fingered Robotic Gripper for Adaptable and Effective Grasping |
| title_sort | open source 3d printed three fingered robotic gripper for adaptable and effective grasping |
| topic | adaptive gripper additive manufacturing force sensor robotic arm |
| url | https://www.mdpi.com/2313-7673/10/1/26 |
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