Universal Gripper

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.