The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks

Cornelius Klas,Felix Hundhausen,Jianfeng Gao,Christian R. G. Dreher,Stefan Reither,You Zhou,Tamim Asfour,Cornelius Klas,Felix Hundhausen,Jianfeng Gao,Christian R. G. Dreher,Stefan Reither,You Zhou,Tamim Asfour

We introduce a multi-functional robotic gripper equipped with a set of actions required for disassembly of electromechanical devices. The gripper consists of a robot arm with 5 degrees of freedom (DoF) for manipulation and a jaw gripper with a 1-DoF rotation joint and a 1-DoF closing joint. The system enables manipulation in 7 DoF and offers the ability to reposition objects in hand and to perform...