The PaCoMe Adaptive Mechanical Fingers

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The PaCoMe Adaptive Mechanical Fingers: Transforming Industrial Grippers into Underactuated/Adaptive Hands
These adaptive passive mechanical fingers attach to classic grippers and transform them into underactuated, a.k.a. adaptive, hands. Simply replace the traditional monolithic jaws with a set of these fingers and you obtain an adaptive hand which can envelope any object. Same gripper, same control, same program. Automatic selection between enveloping and precision grasps is mechanically done depending on which phalanges are in contact with the object to grasp.
Video submission of the paper:
"Enhancing Versatility and Safety of Industrial Grippers with Adaptive Robotic Fingers," by Lionel Birglen, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, 2015, pp. 2911-2916. doi: 10.1109/IROS.2015.7353778
ieeexplore.ieee.org/document/...
Music by Wired Ant, Creative Commons License CC BY 3.0
creativecommons.org/licenses/b...

Опубликовано:

25 фев 2015

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Комментарии : 18

@lionelbirglen 5 лет назад

To the people asking us to share the CAD files of the fingers: thank you for your interest but we cannot do that at this point since we are still actively doing research with them. At one point in the future, we may release STL files and this will be announced here but not right now. Thank you for your understanding.

@080f 3 дня назад

Me gusta mucho, ese helado.

@wolfgangtatzel3706 3 года назад

Very nice!

@afraazjeelani8302 5 лет назад

Please share the cad model of this gripper plsss

@DerSolinski 5 лет назад

Nice concept, I really like it. Could be really awesome for industrial use if printed as a compliant design out of a springy titanium alloy. I think I'll try to design a nylon version for my FDM printer ^^

@PolyLabrobot 5 лет назад

Hi Tim. We actually have already built several compliant versions of this design and indeed it works out very well. We did not put anything online yet as we are trying to publish a scientific paper about that first. Hopefully, we could let out more info this year or the next. Good luck with your copy of the design!

@muhammadfaheem604 5 лет назад

Good idea sir how can I get the Cad model of this Gripper ?

@krillnyetheshrimpguy6152 2 года назад

Hey Lionel. Have you seen the underactuated 5 bar linkage gripper (2F-85) sold by Robotiq? What are some of the trade-offs between the 2 different designs?

@PolyLabrobot 2 года назад

I do know this product very well as I am the original inventor of its kinematic structure. If you're curious enough, you can find my name in the "patents" section of the 2F-85 and 2F-140 user manual. Robotiq licensed my patent on this kinematics. The Pacome fingers are an evolution and improvement of this previous patent. These fingers are entirely passive whereas the 2F-XX grippers need an actuator to rotate their lower link and close. The Pacome fingers can be attached to pretty much any gripper you have (hydraulic, pneumatic, electric, whatever) and they use the motion of this gripper as the actuator. They are simpler (=cheaper) and more versatile. There are also some more subtle advantages with the Pacome fingers but it would get quite long and technical to explain that here. Cheers!

@imeautomation Год назад

@@PolyLabrobot are you selling this one or licensing the patent to a manufacturer? I'm looking for a good robot end effector for a unique application

@PolyLabrobot Год назад

@@imeautomation Yes and yes. Reach out to me at lionel.birglen -at- polymtl.ca and I'll give you more info.

@600U 3 месяца назад

do any of the objects you show need the compliant zone? they all seem to be picked quite well with the stiff upper zone

@PolyLabrobot 3 месяца назад

That's a very interesting question! Indeed, most of these objects could be seized with a pinch grasp, namely the distal phalanges. However, the resistance to slipping out is then weak unless the contact forces become huge since you only rely on local friction coefficients which also depends on the object and may vary a lot. Power grasps (compliant) on the other hand are generally better: they spread out the contact forces on a wider surface (thus less chances of damaging fragile objects) and are less prone to slippage. This is the same as with our own hands: for larger objects and a strong grasp we tend to grab with as many fingers and as many phalanges as we can. Pinching is an option when you have small objects (think of a needle) and enveloping is not practical but it is more difficult to maintain a secure grip.

@Kids_Scissors 2 года назад

the compliant flexure gripper definitely wins over this multi-part mechanical design

@PolyLabrobot 2 года назад

Very often yes and I do love compliant mechanisms a lot! However, there are situations where you do need a rigid link gripper: e.g. in some industries the tools are getting seriously abused and/or work in harsh (corrosive) environments and in that case, steel or stainless steel with lots of material is a must. Cheers!