Robotics: Science and Systems XVII

A Low-Cost Compliant Gripper Using Cooperative Mini-Delta Robots for Dexterous Manipulation

Pragna Mannam^*, Avi Rudich^*, Kevin Zhang^*, Manuela Veloso, Oliver Kroemer, F. Zeynep Temel
^* These authors contributed equally

Abstract:

Traditional parallel-jaw grippers are insufficient for delicate object manipulation due to their stiffness and lack of dexterity. Other dexterous robotic hands often have bulky fingers; rely on complex time-varying cable drives; or are prohibitively expensive. In this paper; we introduce a novel low-cost compliant gripper with two centimeter-scaled 3-DOF delta robots using off-the-shelf linear actuators and 3D-printed soft materials. To model the kinematics of delta robots with soft compliant links; which diverge from typical rigid links; we train neural networks using a perception system. Furthermore; we analyze the delta robot's force profile by varying the starting position in its workspace and measuring the resulting force from a push action. Finally; we demonstrate the compliance and dexterity of our gripper through six dexterous manipulation tasks involving small and delicate objects. Thus; we present the groundwork for creating modular multi-fingered hands that can execute precise and low-inertia manipulations.

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Bibtex:

  
@INPROCEEDINGS{Mannam-RSS-21, 
    AUTHOR    = {Pragna Mannam AND Avi Rudich AND Kevin Zhang AND Manuela Veloso AND Oliver Kroemer AND F. Zeynep Temel}, 
    TITLE     = {{A Low-Cost Compliant Gripper Using Cooperative Mini-Delta Robots for Dexterous Manipulation}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2021}, 
    ADDRESS   = {Virtual}, 
    MONTH     = {July}, 
    DOI       = {10.15607/RSS.2021.XVII.076} 
}