A Cable-Based Gripper for Chemistry Labs

Manes, L ORCID: 0000-0002-5426-2925, Fichera, S ORCID: 0000-0003-1006-4959, Marquez-Gamez, D, Cooper, AI and Paoletti, P ORCID: 0000-0001-6131-0377 (2020) A Cable-Based Gripper for Chemistry Labs In: TAROS 2020, 2020-9-16 - 2020-9-16, Nottingham.

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Abstract

This paper presents the design of an end-effector for handling of supplies commonly found in chemistry labs. The system uses a cable loop capable of providing an effective grasp of any prismatic or cylindrical object, making it ideal for handling vials and other containers commonly used in laboratories. When compared to the more common parallel jaw gripper design, the proposed cable based end-effector is able to handle a larger variety of objects without interfering with the surrounding objects even in a crowded environment (minimal footprint). The payload capability of the gripper have been tested on a load test apparatus with different materials, demonstrating its effectiveness.

Item Type:	Conference Item (Unspecified)
Uncontrolled Keywords:	46 Information and Computing Sciences
Depositing User:	Symplectic Admin
Date Deposited:	02 Sep 2020 09:45
Last Modified:	24 Jan 2026 02:39
DOI:	10.1007/978-3-030-63486-5_42
Related Websites:	Publisher
URI:	https://livrepository.liverpool.ac.uk/id/eprint/3099571
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