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The aim of this project was to create a ROS-integrated inexpensive universal gripper (inspired by the gripper of Hello Robot's Stretch) for the Universal Robotics UR3e. The gripper is actuated by a single Dynamixel servo motor, and produced entirely from off the shelf/3-D printed components. The open-source C++ ROS wrapper that provides open, close, toggle, and partial close services should be easily adaptable for any gripper actuated by a single Dynamixel servo. Where the gripper closes is designed to be coaxial with the final joint of the UR3 arm for ease of grasp planning. This work was done at Northeastern's RIVeR lab as my first project.
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