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A 3-Finger Robotic Gripper for Grasping Fabrics Based on Cams-Followers Mechanism

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Advances in Service and Industrial Robotics (RAAD 2017)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 49))

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Abstract

In this paper, a 3-finger gripper is developed for grasping fabrics that are folded or unfolded. Its design is based on the investigation of human fingers’ movements in grasping a piece of fabric that is laid on a table and it is conceptualized using the theory of cam-follower design. The concept, the design and the prototype of the gripper are presented, along with the analysis for specifying the characteristics and parameters of the mechanism. The proposed gripper has a camshaft with three cams (2-axial and 1-globoidal), guided by only one actuator, for moving the three fingers (2-linear motions and 1-rotational). A prototype of the gripper is implemented using 3D printing technique which keeps the total cost and weight very low. The prototype has been tested experimentally under several grasping tasks, where its efficiency is demonstrated.

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Notes

  1. 1.

    Videos of the experiments: Robotics Group channel on YouΤube.

References

  1. Koustoumpardis PN, Aspragathos NA (2004) A review of gripping devices for fabric handling. In: International conference on intelligent manipulation and grasping IMG 2004, Genova, Italy

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Author information

Authors and Affiliations

  1. Mechanical Engineering and Aeronautics Department, University of Patras, Rio Patras, Greece

    Panagiotis Ν. Koustoumpardis, Sotiris Smyrnis & Nikos Α. Aspragathos

Authors
  1. Panagiotis Ν. Koustoumpardis
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  2. Sotiris Smyrnis
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  3. Nikos Α. Aspragathos
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Corresponding author

Correspondence to Panagiotis Ν. Koustoumpardis .

Editor information

Editors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Carlo Ferraresi

  2. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Giuseppe Quaglia

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Koustoumpardis, P.Ν., Smyrnis, S., Aspragathos, N.Α. (2018). A 3-Finger Robotic Gripper for Grasping Fabrics Based on Cams-Followers Mechanism. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_64

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  • DOI: https://doi.org/10.1007/978-3-319-61276-8_64

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61275-1

  • Online ISBN: 978-3-319-61276-8

  • eBook Packages: EngineeringEngineering (R0)

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