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

The adaption of robotic assembly lines to new products is generally slow and costly, binding the economical usage a single line few manufactured in masses. An important time factor robot's gripper fingers product components - since finger design, production, mounting done manually. In this letter, we introduce an approach for automatic task-specific fingertip production application. Our system potentially able reduce customization mentioned above by automatically printing customized fingertips onto pre-produced finger-base storing them dedicated library before process begins. robot can then autonomously load use these produced stored designated manipulation task utilizing specially developed quick exchange system. setup experimentally validated conducting three different executing grasp-stability tests as well multiple pick- insertion tasks, with without position offsets using fingertips. proposed approach, indeed, goes beyond serves foundation fully application pipeline.