Mathematical Modelling and Experimental Validation of an Articulated Vacuum Gripper
Matteo Maggi,Giulio Reina,Giacomo Mantriota,Matteo Maggi,Giulio Reina,Giacomo Mantriota
This paper presents the underactuated vacuum gripper named Polypus. What is unique in Polypus is that it combines under-actuation and vacuum grasping to apply both power and unilateral grasp to objects of various shape and geometry. In addition, the gripper features modularity, i.e., single phalanges can be added or removed based on the application. The high flexibility also comes with a cost-effe...
