Design and manufacturing of a novel four-fingered reconfigurable robotic gripper with enhanced grasping capabilities

Abstract The effectiveness of robotic grippers is critical for the secure and damage-free manipulation of objects with diverse geometries and material properties. This paper presents the design, analysis, and experimental evaluation of a novel reconfigurable four-finger robotic gripper. The proposed design incorporates two stationary fingers fixed to a circular base and two movable fingers repositioned and reoriented via a face gear mechanism, enabling multiple finger configurations to enhance adaptability. A single geared motor drives the opening and closing motions of all four fingers, simplifying the actuation mechanism. The robotic gripper was fabricated using 3D printing technology, ensuring cost-effective and precise manufacturing. Experimental tests were conducted to evaluate the robotic gripper’s reconfigurability and grasping performance across a range of objects, demonstrating its effectiveness in various configurations. Additionally, a closed-loop force control system was implemented to assess the grasping performance of a soft reconfigurable variant. Grasping force measurements were performed on three distinct objects, yielding a grasping curve that confirmed successful adaptation and secure handling. While the results validate the robotic gripper’s performance, further refinement of the control algorithm is recommended to optimize its capabilities. Compared to conventional three-finger designs, the proposed robotic gripper offers superior reconfigurability and adaptability, making it suitable for a broader range of industrial and research applications. The innovative face gear mechanism and modular design expand the robotic gripper’s functionality, positioning it as a versatile tool for advanced robotic manipulation tasks.