End Edffector Design
The robot’s custom-designed gripper provides a mounting point for two suction cups,
two vacuum lines and a small RGB-D camera.
The design is available under a Creative Commons BY-SA 3.0 license: CAD models
The gripper consists of two 3D-printed components – one connected to the wrist of the robot, the second to house the two suction cups – connected by two parallel PVC pipes of 27cm length (diameter of 20mm). Existing gripper mount points allowed for our gripper to be attached to Baxter non-destructively.
Suction cups provide a simple and effective way to grasp a wide variety of objects. Our design includes two separate cups to increase the number of reachable grasp points. Considering an object-filled shelf, the additional right-angled suction cup enables object grasps from above, as well as, side ways picks of objects leaning against the wall, especially books and DVDs. Aligning a suction cup with the axis of rotation of the wrist creates the capability to grasp objects from the side.