Open Access

Nikolai Hangst, Sebastian Wieber, Thomas Wendt, Stefan Rupitsch

• In this contribution, we present an additive manufactured robotic gripper with sensitive force control. The gripper is based on a wedge-hook mechanism, resulting in a compact and cost-effective design. A key feature is an integrated force sensor located in one of the gripper jaws, which enables precise control of the gripping force directly at the gripped object. The control feature in form ofIn this contribution, we present an additive manufactured robotic gripper with sensitive force control. The gripper is based on a wedge-hook mechanism, resulting in a compact and cost-effective design. A key feature is an integrated force sensor located in one of the gripper jaws, which enables precise control of the gripping force directly at the gripped object. The control feature in form of accuracy, precision, and overshoot is analyzed. The sensor-integrated system is compared to a conventional approach. The results demonstrate that combining additive manufacturing with integrated sensing and controlled actuation enables a capable mechatronic system. Its accuracy exceeds that of current-based force estimation methods. This allows accurate and precise gripping without the need for complex traditional manufacturing processes.…