A 3D Printed Reconfigurable Multi-fingered Gripper

This paper presents a novel reconfigurable gripper designed for versatile and cost-efficient automation. The gripper is characterized by its under-actuated fingers and modular design, enabling it to adapt to a wide range of objects and tasks. Central to our design is the robotic finger module, which utilizes a single motor within a 3D-printed frame, ensuring both efficient functionality and ease of assembly. The gripper's adaptability is further enhanced by a reconfigurable board that supports multiple finger configurations, such as two-finger and three-finger setups. Evaluation tests were conducted to assess the gripper's adaptability and durability. Using a series of 3D-printed objects, the tests focused on the finger's response time and ability to withstand repetitive use, highlighting its capability to efficiently handle diverse objects. Its adaptability and open-source nature make it a valuable asset for a wide range of uses.