Manes, Lupo 
ORCID: 0000-0002-5426-2925, Fichera, Sebastiano ORCID: 0000-0003-1006-4959, Fakhruldeen, Hatem, Cooper, Andrew I and Paoletti, Paolo ORCID: 0000-0001-6131-0377
(2024)
A soft cable loop based gripper for robotic automation of chemistry
Scientific Reports, 14 (1).
8899-.
ISSN 2045-2322, 2045-2322
Abstract
AbstractRobotic automation is proving itself indispensable in the modern Chemistry laboratory, but adoption is slowed down by the technical challenges of implementing such systems. This paper reports on a novel adaptive gripper mechanism that can easily and reliably grasp cylindrical and prismatic objects of various sizes with limited clearance required. The proposed design exploits the inherent compliance of a cable that is driven to fully envelope the target object. The cable is run through a rigid finger, allowing the loop to be placed around objects with minimal clearance required and to provide support for the object once the grip is complete. Thanks to the compliant nature of the mechanism, the gripper requires minimal control effort to complete a gasping task. A prototype of the gripper has been designed and built for chemistry automation tasks, where it showed very high grasp reliability with $$\le 1\%$$ grasp failures.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | 33 Built Environment and Design, 3303 Design, Bioengineering |
| Divisions: | Faculty of Science & Engineering > School of Engineering |
| Depositing User: | Symplectic Admin |
| Date Deposited: | 18 Apr 2024 10:48 |
| Last Modified: | 15 Jan 2026 13:56 |
| DOI: | 10.1038/s41598-024-59372-1 |
| Open Access URL: | https://doi.org/10.1038/s41598-024-59372-1 |
| Related Websites: | |
| URI: | https://livrepository.liverpool.ac.uk/id/eprint/3180430 |
| Disclaimer: | The University of Liverpool is not responsible for content contained on other websites from links within repository metadata. Please contact us if you notice anything that appears incorrect or inappropriate. |
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