Monorail-Like Gripper System with Dynamic and Modular Reconfiguration for Diverse Finger Layouts
Haruki Ikeda, Kazuki Higashi, Osamu Fukuda, Mitsuru Higashimori
AI summary
Problem
Existing reconfigurable grippers are largely constrained to circular tracks or fixed layouts, limiting their ability to handle diverse objects and adapt to changing tasks.
Approach
The authors introduce a monorail-like framework where finger units slide independently along arbitrary non-circular palm tracks for dynamic layout changes, while the palm geometry and finger count can be physically swapped for modular adaptation.
Key results
- Prototype gripper developed with sliding finger units and snap-fit modular palm components
- Dynamic reconfiguration on an S-shaped palm generated seven distinct finger layouts for successful grasping
- On-the-fly modular reconfiguration expanded the layout space to enable rapid task-driven adaptation
- Experimental validation confirms unified dynamic and modular reconfiguration for versatile robotic grasping
Why it matters
Establishes a new design principle for highly adaptive grippers that can rapidly switch between grasping strategies, benefiting automation, manufacturing, and service robotics.
Abstract
Robotic grasping requires flexible reconfiguration to handle diverse objects and tasks. This paper proposes a monorail-like reconfiguration framework for robotic grippers, inspired by train–rail relationships, that generates diverse finger layouts. The proposed framework unifies two comple- mentary forms: dynamic reconfiguration, in which finger units move along an arbitrary non-circular track defined by the palm shape (palm track) to change the finger layout, and modular reconfiguration, in which the palm track shape and the number of fingers are modified to alter the achievable finger layout space. We developed a prototype gripper system that embodies the proposed framework and experimentally validated its unified reconfiguration capability. Dynamic re- configuration with the S-shaped palm achieved seven distinct finger layouts with successful object grasping, while on-the-fly modular reconfiguration expanded the achievable finger layout space, enabling rapid adaptation to different grasping tasks. This work establishes a new design principle for reconfigurable grippers toward highly adaptive and versatile robotic grasping.