English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

The number of sequential tasks a single gripper can perform is significantlylimited by its design. In many cases, changing the gripper fingers is requiredto successfully conduct multiple consecutive tasks. For this reason, severalrobotic tool change systems have been introduced that allow an automaticchanging of the entire end-effector. However, many situations require only themodification or the change of the fingertip, making the exchange of the entiregripper uneconomic. In this paper, we introduce a paradigm for automatictask-specific fingertip production. The setup used in the proposed frameworkconsists of a production and task execution unit, containing a roboticmanipulator, and two 3D printers - autonomously producing the gripper fingers.It also consists of a second manipulator that uses a quick-exchange mechanismto pick up the printed fingertips and evaluates gripping performance. The setupis experimentally validated by conducting automatic production of threedifferent fingertips and executing graspstability tests as well as multiplepick- and insertion tasks, with and without position offsets - using thesefingertips. The proposed paradigm, indeed, goes beyond fingertip production andserves as a foundation for a fully automatic fingertip design, production andapplication pipeline - potentially improving manufacturing flexibility andrepresenting a new production paradigm: tactile 3D manufacturing.

Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics