Flipper: The SoftRobotic-Gripper

thingiverse

This Softrobotic Gripper was built as a Group project over a 25 week period as part of the Humanoid robotics studies at the Beuth University of Technology Berlin. The gripper is making use of two Softrobotic fingers and an antagonistic thumb. The two-finger are rotatably mounted, because of that, the hand is capable of 3 different gripping strategies. The Grippers themselves are printed in a flexible material, they automatically adapt to the object without damaging it and therefore you don't need to worry about using too much force. The hand is tendon-driven by 3 Dynamixel motors: one XL330 for the thumb, one XL430 for both fingers, and another XL330 rotating the two fingers to change to gripping strategy. The motor plate is of course designed exactly for these three motors. Furthermore, these motors are controlled by an Arduino MKR + DynmaxielShield. The GitLab repository with C++ Code that we used for gripping the Egg, Sponge and Tube: https://gitlab.com/hrob-project/hrob-project-code If you are interested in the SolidWorks files so you can make changes for your own needs/ideas this is the repository: https://gitlab.com/hrob-project/hrob-project-cad I could give way more information. But it's neither useful nor necessary to post every little detail here. So if you really intend to rebuild it yourself, just contact me here or under the Youtube videos and we can get in touch. https://www.youtube.com/watch?v=JxmtdhWMnIQ https://www.youtube.com/watch?v=N9gIESNbg8M https://www.youtube.com/watch?v=OcgtCcfUKdo https://www.youtube.com/watch?v=CKog8dTdHdo