In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design modifications, and importantly, evaluate all designs on a grasping experiment involving a selection of objects resulting in 3600 object-gripper interactions. Interested in...

In this letter, we describe a novel capillary force gripper with two nozzles for the manipulation of complex-shaped micro-objects. These rapidly form constant-volume droplets and have primary functions: fast water refilling by action droplet formation on-off control diaphragm pump. Capillary is dominant microscopic acting on objects all shapes owing to fluidity water. Therefore, it suitable cap...

A small-scale flexure-based gripper was designed for manipulation tasks requiring precision position and force control. The gripper is actuated by a piezoelectric ceramic stack actuator and utilizes strain gages to measure both the gripping force and displacement. The position and force bandwidths were designed for ten Hertz and one hundred Hertz, respectively, in order to afford human-based te...

While existing grippers execute manipulation tasks, they occlude parts of the objects they grasp as well as parts of the workspace from vision sensors. We present the concept of a transparent gripper that enables vision sensors to image an object without oc-clusion while it is being manipulated. The physics of refraction, total internal reeection, lens eeects, dispersion and transmittance are a...

The study of manipulation problem with application of a new gripper designed, constructed and built by the author is presented in the paper. The design work concentated on ensuring that the hand can contact with a variety of different shape objects made of flexible materials of different properties as well as fragile objects requiring particular caution when manipulated. Additionally it was ass...

Fig. 1. Parcelrobot and Velvet Fingers Gripper: The Parcelrobot platform is located at the Bremer Institut für Produktion und Logistik GmbH (BIBA) in Bremen, Germany. Its kinematic structure comprises linear and rotary axes that cover a cylindrical workspace. Equipped with the Velvet Fingers Gripper it comprises an autonomous system for unloading shipment containers filled with randomly packed ...

A highly versatile soft gripper that can handle an unprecedented range of object types is developed based on a new design of dielectric elastomer actuators employing an interdigitated electrode geometry, simultaneously maximizing both electroadhesion and electrostatic actuation while incorporating self-sensing. The multifunctionality of the actuator leads to a highly integrated, lightweight, fa...

The ability to manipulation of biological cells while having reflective-force information from the cells is a key technology necessary for many new applications in Bio-MEMS, but is currently lacking in all cellular manipulators. We will report on our preliminary experimental work in using an Ionic Conducting Polymer Film (ICPF) to develop a biological cell robotic gripper with force sensing cap...

Problem statement: Piezoelectric actuator is a kind of key driving components for micropositioning stages, micropumps, micro valves, micro gripper and so on in the fields of micro/nano technology such as integrated circuit manufacturing, precision instruments, ultra precision fabrication, biomedical manipulation. It has lots of advantages including high stiffness, fast response times, less heat...

Some grippers operate using Bernoulli Principle for generating a high-speed flow between the gripper plate and product surface thereby creating vacuum which lifted the product. Most of the robot grippers are not easily applicable due to the food products are often delicate, easily marked or bruised, adhesive and slippery. Feasibility observations are studied to demonstrate and obtain an overall...