Single-Fingered Reconfigurable Robotic Gripper With a Folding Mechanism for Narrow Working Spaces

This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed realizes two configurations, namely, insertion and modes, using only single motor. In mode, assumes thin shape such that it can insert its tip into space. mode is activated through folding mechanism. Mode switching be achieved ways: actively by motor, or combining passive rotation fingertip contact with support surface active motorized construction claw. latter approach effective when unclear how much required specific task. structure provides simple control scheme. performance proposed design methodology was experimentally evaluated. minimum width space to grasp an object 4 mm (1 mm, strategy).