One-Shot 3D Printed Underactuated Gripper

Underactuated gripping mechanisms allow a wide range of objects to be grasped, with relatively simple control and input. Current 3D printed underactuated grippers are often composed of multiple parts that need assembly before use. Consolidating many of these parts allows the gripper to be manufactured more quickly for less money, and allows custom gripping devices to become more accessible. A novel one-shot printed underactuated gripping mechanism was developed, which was manufactured using HP’s MJF 3D printing process. The conventional tendon lines were replaced with a band which was 3D printed as part of the gripper. Finite Element Analysis was used to model the gripper behaviour, and 3D printed prototypes were manufactured and tested, which were to grip a range of objects.