Development of Isometrical 3-Finger Underactuated Robot Gripper

This paper demonstrates the design and development of 3-Finger robotic gripper using a 3D printer (Polylactic acid or PLA materials). The gripper is developed based on the underactuated mechanism using electromechanical actuator and gear train transmission system for gripping and un-gripping an object in a cylindrical and spherical shape. Analysis of the prototype structure and the gripper is done to observe the angle movement of each individual finger and presented.