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One-shot 3D printed underactuated gripper

Cormack, Jordan; Fotouhi, Mohammad; Adams, Guy; Pipe, Anthony

One-shot 3D printed underactuated gripper Thumbnail


Jordan Cormack

Mohammad Fotouhi

Guy Adams


A Mohammad

X Dong

M Russo


Underactuated gripping mechanisms allow a wide range of objects to be grasped, with relatively simple control and input. Current 3D printed underactuated grippers are often composed of multiple parts that need assembly before use. Consolidating many of these parts allows the gripper to be manufactured more quickly for less money, and allows custom gripping devices to become more accessible. A novel one-shot printed underactuated gripping mechanism was developed, which was manufactured using HP’s MJF 3D printing process. The conventional tendon lines were replaced with a band which was 3D printed as part of the gripper. Finite Element Analysis was used to model the gripper behaviour, and 3D printed prototypes were manufactured and tested, which were to grip a range of objects.


Cormack, J., Fotouhi, M., Adams, G., & Pipe, A. (2020). One-shot 3D printed underactuated gripper. In A. Mohammad, X. Dong, & M. Russo (Eds.), Towards Autonomous Robotic Systems (400-404).

Conference Name TAROS 2020: Towards Autonomous Robotic Systems
Start Date Sep 16, 2020
Acceptance Date May 29, 2020
Online Publication Date Dec 3, 2020
Publication Date 2020
Deposit Date Oct 18, 2021
Publicly Available Date Dec 4, 2021
Publisher Springer
Volume 12228
Pages 400-404
Series Title Lecture Notes in Computer Science
Series ISSN 0302-9743
Book Title Towards Autonomous Robotic Systems
ISBN 9783030634858
Keywords 3D Printing, Underactuated, Gripper
Public URL
Additional Information First Online: 3 December 2020; Conference Acronym: TAROS; Conference Name: Annual Conference Towards Autonomous Robotic Systems; Conference City: Nottingham; Conference Country: United Kingdom; Conference Year: 2020; Conference Start Date: 16 September 2020; Conference End Date: 16 September 2020; Conference Number: 21; Conference ID: taros2020; Conference URL:


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