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JRM Vol.27 No.5 pp. 496-503
doi: 10.20965/jrm.2015.p0496
(2015)

Paper:

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Preliminary Design of a Three-Finger Underactuated Adaptive End Effector with a Breakaway Clutch Mechanism

Kuat Telegenov*, Yedige Tlegenov*, Shahid Hussain**, and Almas Shintemirov*

*Department of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University
53 Kabanbay Batyr Avenue, Astana, Kazakhstan

**School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong
Wollongong, New South Wales 2522, Australia

Received:
March 16, 2015
Accepted:
July 28, 2015
Published:
October 20, 2015
Creative Commons License
Keywords:
underactuated robotic end effector, gear train mechanism, breakaway clutch mechanism, 3D printing, adaptive grasping
Abstract
A robotic end effector prototype
Commercially available robotic grippers are often expensive and not easy to modify for specific purposes of robotics research and education. To extend the choice of robotic end effectors available to researchers, this paper presents the preliminary work on prototype design and analysis of a three-finger underactuated robotic end effector with a breakaway clutch mechanism suitable for research in robot manipulation of objects for industrial and service applications. Kinematic models of the finger and the breakaway clutch mechanisms are analyzed aiming to define selection criteria of design parameters. Grasping performance of the end effector prototype manufactured with a 3D printing technology and off-the-shelf components is evaluated using simulation and experimental analyses. Comparison with widely applied available robotic end effectors shows the potential advantages of the proposed end effector design.
Cite this article as:
K. Telegenov, Y. Tlegenov, S. Hussain, and A. Shintemirov, “Preliminary Design of a Three-Finger Underactuated Adaptive End Effector with a Breakaway Clutch Mechanism,” J. Robot. Mechatron., Vol.27 No.5, pp. 496-503, 2015.
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Last updated on Apr. 01, 2025