The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks
Cornelius Klas Felix Hundhausen Jianfeng Gao Christian R. G. Dreher Stefan Reither You Zhou Tamim Asfour Cornelius Klas Felix Hundhausen Jianfeng Gao Christian R. G. Dreher Stefan Reither You Zhou Tamim Asfour
We introduce a multi-functional robotic gripper equipped with a set of actions required for disassembly of electromechanical devices. The gripper consists of a robot arm with 5 degrees of freedom (DoF) for manipulation and a jaw gripper with a 1-DoF rotation joint and a 1-DoF closing joint. The system enables manipulation in 7 DoF and offers the ability to reposition objects in hand and to perform...