Design of a rotary finger changer module capable of creating various gripping trajectories

Recently, as the performance of various tasks using collaborative robots increases, the demand for multi-functional grippers is increasing. In order to perform various tasks in various environments with a single robot, the gripper must be capable of performing multiple tasks while also having high versatility. For this purpose, this study proposed a rotary finger changer module (RFCM) using the fingertip changing method. The proposed RFCM can build a gripping system with both versatility and expertise by producing various tip shapes in the same way as other tip changing modules studied previously. Additionally, RFCM can generate various gripping trajectories through x- and z-axis rotation. RFCM tested object gripping in two directions for three objects in a limited space and verified its function with a high success rate of 85%. Based on this performance, RFCM is capable of gripping objects with high gripping performance in a limited space and is expected to be used in tasks such as assembly where the direction of the object is important.