A low-cost 3D printed electromagnetic gripper for robotic arms

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-06-24 DOI:10.1016/j.mechatronics.2025.103374

Andrea Ruo, Luca Bernardi, Ludovico Campanelli, Mattia Grespan, Danila Trane, Roberto Sedoni, Diego Angeli, Lorenzo Sabattini, Valeria Villani

引用次数: 0

Abstract

Grasping, carrying, and placing objects are fundamental capabilities and common operations for robots and robotic manipulators. To ensure secure grasping of objects with a wide variety of shapes, sizes, and materials, various sensors and control strategies are also necessary. In this paper, an electromagnetic robotic gripper is proposed. The exploitation of electromagnetism principles for grasping is not new in the literature, but the proposed design innovation aims at proposing an open-source and low-cost solution that can be 3D printed. The developed prototype was tested by performing pick and place operations on samples of progressively increasing mass. Finally, a thermodynamic analysis was conducted to determine the steady-state external temperature of the shell and identify its limitations.

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一种用于机械臂的低成本3D打印电磁夹具

抓取、搬运和放置物体是机器人和机械手的基本能力和常用操作。为了确保安全抓取各种形状、大小和材料的物体，还需要各种传感器和控制策略。本文提出了一种电磁机械手。利用电磁原理抓取在文献中并不新鲜，但提出的设计创新旨在提出一种可以3D打印的开源和低成本解决方案。开发的原型通过对质量逐渐增加的样品进行取放操作进行测试。最后，进行了热力学分析，确定了壳体的稳态外部温度，并确定了其局限性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.