Development of an Elastic Finger Joint of a Robotic Gripper For Picking Up Thin, Easily Deformable Objects

Abstract

Manipulation of thin, easily deformable objects is part of daily life tasks as well as industrial applications, such as paper folding, gift wrapping, bed making and seat manufacturing. Independent from the following manipulation approach all these tasks require a pick up process before. In this paper we propose a design of a robotic gripper with an integrated torsion spring in the DIP finger joint. Thereby we are able to achieve a process to pick up thin, deformable objects from a flat surface with low control and motion planning effort.