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Abstract:
Robotics research and education have gained significant attention in recent years due to increased development and commercial deployment of industrial and service robots....Show MoreMetadata
Abstract:
Robotics research and education have gained significant attention in recent years due to increased development and commercial deployment of industrial and service robots. A majority of researchers working on robot grasping and object manipulation tend to utilize commercially available robot-manipulators equipped with various end effectors for experimental studies. However, commercially available robotic grippers are often expensive and are not easy to modify for specific purposes. To extend the choice of robotic end effectors freely available to researchers and educators, we present an open-source low-cost three-finger robotic gripper platform for research and educational purposes. The 3-D design model of the gripper is presented and manufactured with a minimal number of 3-D-printed components and an off-the-shelf servo actuator. An underactuated finger and gear train mechanism, with an overall gripper assembly design, are described in detail, followed by illustrations and a discussion of the gripper grasping performance and possible gripper platform modifications. The presented open-source gripper platform computer-aided design model is released for downloading on the authors research lab website (<;uri xlink:href="http://www.alaris.kz" xlink:type="simple">www.alaris.kz<;/uri>) and can be utilized by robotics researchers and educators as a design platform to build their own robotic end effector solutions for research and educational purposes.
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Published in: IEEE Access ( Volume: 3)
Funding Agency:
National Laboratory Astana, Nazarbayev University, Astana, Kazakhstan
Kuat Telegenov received the B.Sc. degree in mechanical engineering with a minor in aeronautics from the University Technology of Malaysia, Malaysia, in 2012, and the M.Sc. degree in mechanics from Gumilyov Eurasian National University, Kazakhstan, in 2014. He is currently a Research Assistant with the National Laboratory Astana and the Department of Robotics and Mechatronics, Nazarbayev University, Kazakhstan. His researc...Show More
Kuat Telegenov received the B.Sc. degree in mechanical engineering with a minor in aeronautics from the University Technology of Malaysia, Malaysia, in 2012, and the M.Sc. degree in mechanics from Gumilyov Eurasian National University, Kazakhstan, in 2014. He is currently a Research Assistant with the National Laboratory Astana and the Department of Robotics and Mechatronics, Nazarbayev University, Kazakhstan. His researc...View more
Department of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University, Astana, Kazakhstan
National University of Singapore, Singapore
Yedige Tlegenov received the B.Sc. degree in mechanics from Gumilyov Eurasian National University, Kazakhstan, in 2011, and the M.Sc. degree from Anna University, India, in 2013. He is currently pursuing the Ph.D. degree with the National University of Singapore, Singapore. He joined the Department of Robotics and Mechatronics, Nazarbayev University, in 2013. His research interests include parallel mechanisms, robot vehic...Show More
Yedige Tlegenov received the B.Sc. degree in mechanics from Gumilyov Eurasian National University, Kazakhstan, in 2011, and the M.Sc. degree from Anna University, India, in 2013. He is currently pursuing the Ph.D. degree with the National University of Singapore, Singapore. He joined the Department of Robotics and Mechatronics, Nazarbayev University, in 2013. His research interests include parallel mechanisms, robot vehic...View more
Department of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University, Astana, Kazakhstan
Almas Shintemirov received the Engineering (Hons.) degree in 2001, the Candidate (Ph.D.) degree in technical sciences from Pavlodar State University, Kazakhstan, in 2004, and the Ph.D. degree in electrical engineering and electronics from the University of Liverpool, U.K., in 2009. He became one of the founding faculty members with the Department of Robotics and Mechatronics, Nazarbayev University, in 2011. He is currentl...Show More
Almas Shintemirov received the Engineering (Hons.) degree in 2001, the Candidate (Ph.D.) degree in technical sciences from Pavlodar State University, Kazakhstan, in 2004, and the Ph.D. degree in electrical engineering and electronics from the University of Liverpool, U.K., in 2009. He became one of the founding faculty members with the Department of Robotics and Mechatronics, Nazarbayev University, in 2011. He is currentl...View more
Contents National Laboratory Astana, Nazarbayev University, Astana, Kazakhstan
Kuat Telegenov received the B.Sc. degree in mechanical engineering with a minor in aeronautics from the University Technology of Malaysia, Malaysia, in 2012, and the M.Sc. degree in mechanics from Gumilyov Eurasian National University, Kazakhstan, in 2014. He is currently a Research Assistant with the National Laboratory Astana and the Department of Robotics and Mechatronics, Nazarbayev University, Kazakhstan. His research interests include design and control of underactuated mechanisms for industrial robotic end effectors and rehabilitation robotics.
Kuat Telegenov received the B.Sc. degree in mechanical engineering with a minor in aeronautics from the University Technology of Malaysia, Malaysia, in 2012, and the M.Sc. degree in mechanics from Gumilyov Eurasian National University, Kazakhstan, in 2014. He is currently a Research Assistant with the National Laboratory Astana and the Department of Robotics and Mechatronics, Nazarbayev University, Kazakhstan. His research interests include design and control of underactuated mechanisms for industrial robotic end effectors and rehabilitation robotics.View more
Department of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University, Astana, Kazakhstan
National University of Singapore, Singapore
Yedige Tlegenov received the B.Sc. degree in mechanics from Gumilyov Eurasian National University, Kazakhstan, in 2011, and the M.Sc. degree from Anna University, India, in 2013. He is currently pursuing the Ph.D. degree with the National University of Singapore, Singapore. He joined the Department of Robotics and Mechatronics, Nazarbayev University, in 2013. His research interests include parallel mechanisms, robot vehicles, and industrial design.
Yedige Tlegenov received the B.Sc. degree in mechanics from Gumilyov Eurasian National University, Kazakhstan, in 2011, and the M.Sc. degree from Anna University, India, in 2013. He is currently pursuing the Ph.D. degree with the National University of Singapore, Singapore. He joined the Department of Robotics and Mechatronics, Nazarbayev University, in 2013. His research interests include parallel mechanisms, robot vehicles, and industrial design.View more
Department of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University, Astana, Kazakhstan
Almas Shintemirov received the Engineering (Hons.) degree in 2001, the Candidate (Ph.D.) degree in technical sciences from Pavlodar State University, Kazakhstan, in 2004, and the Ph.D. degree in electrical engineering and electronics from the University of Liverpool, U.K., in 2009. He became one of the founding faculty members with the Department of Robotics and Mechatronics, Nazarbayev University, in 2011. He is currently an Assistant Professor with the Department of Robotics and Mechatronics, Nazarbayev University. His research interests include robotic/mechatronic system design, intelligent automation, and computation intelligence. He is a member of the IEEE Robotics and Automation Society.
Almas Shintemirov received the Engineering (Hons.) degree in 2001, the Candidate (Ph.D.) degree in technical sciences from Pavlodar State University, Kazakhstan, in 2004, and the Ph.D. degree in electrical engineering and electronics from the University of Liverpool, U.K., in 2009. He became one of the founding faculty members with the Department of Robotics and Mechatronics, Nazarbayev University, in 2011. He is currently an Assistant Professor with the Department of Robotics and Mechatronics, Nazarbayev University. His research interests include robotic/mechatronic system design, intelligent automation, and computation intelligence. He is a member of the IEEE Robotics and Automation Society.View more