PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation

• DOI: 10.3390/electronics9071147
• Publication Date: 2020-07-16T14:54:46Z
• Authors: Tomasz Mańkowski; Jakub Tomczyński; Krzysztof Walas; Dominik Belter
• Keywords: Firmware; Underactuation; Laptop

In this article, the design of a five-fingered anthropomorphic gripper is presented specifically designed for manipulation elastic objects. The manipulator features hybrid design, being equipped with three fully actuated fingers precise manipulation, and two underactuated, tendon-driven digits secure power grasping. For ease reproducibility, uses as many off-the-shelf 3D-printed components possible. on-board controller circuit firmware are also presented. includes resistive position angle sensors in each joint, resulting full joint observability. has position-based integrated, along USB communication protocol, enabling state reporting direct motor control from PC. A high-level driver operating Robot Operating System node provided. All drives circuitry PUT-Hand integrated within hand itself. sensory system tri-axial optical force placed on fingers’ fingertips reaction measurement. set experiments provided to present motion perception capabilities gripper. files source codes available online under CC BY-NC 4.0 MIT licenses.