An open-source 3D printed underactuated robotic gripper

In this paper authors present an open source low-cost basic robotic end effector platform for facilitating research on robotic grasping. The 3D design model of a three fingered underactuated robotic gripper is presented and manufactured with minimal number of 3D printed components and an off-the-shelf servomotor actuator. An underactuated finger, gear train mechanisms and an overall gripper assembly design are described in details followed by illustration and discussion of grasping of objects with various geometries. The presented open source gripper design will be released for downloading on the authors´ research lab web-site www.alaris.kz and can be useful for robotic researchers as a platform to build their own robotic end effector solutions for research and educational purposes.