A novel gripper design for multi hand tools grasping under tight clearance constraints and external torque effect

Mohammad Shaqura, Jeff S. Shamma

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations


A robotic multi tool gripper design and implementation is presented in this paper. The proposed design targets applications where an actuation task is performed using a wide selection of standard hand tools. The manipulation motion is assumed to be rotational which requires a firm grip to account for external torque on the grasped tool. The setup is assumed to be a conventional workshop panel with hand tools being hanged close to each other, which constraints lateral clearance around the target, and near the wall of the panel, which constraints the depth clearance. Off the shelf grippers are mostly heavy and bulky which make them unsuitable for these requirements. Moreover, they are not optimized in terms of power consumption, simplicity and compactness. These generic grippers are mostly designed for pick and place tasks where no external torques other than those caused by the object weight affects the gripper. The design challenge involves building a gripper that is capable of operating in limited clearance space, firmly grip a variety of standard hand tools with different sizes and shapes. The proposed design is optimized for these objectives and offers a low cost and power consumption solution. The design has been validated in lab and outdoor experiments and has been deployed in real operating platform used in an international robotics competition.
Original languageEnglish (US)
Title of host publication2017 IEEE International Conference on Mechatronics and Automation (ICMA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Print)9781509067589
StatePublished - Aug 29 2017

Bibliographical note

KAUST Repository Item: Exported on 2020-10-01
Acknowledgements: The authors would like to thank Dr. Samet Guler (Postdoctoral fellow, KAUST) and Mr. Mohammed AlGarni (PhD student, KAUST) for their valuable feedback throughout the design and implementation of the presented work.


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