Giacomo Mantriota

Mathematical Modelling and Experimental Validation of an Articulated Vacuum Gripper

This paper presents the underactuated vacuum gripper named Polypus. What is unique in Polypus is that it combines under-actuation and vacuum grasping to apply both power and unilateral grasp to objects of various shape and geometry. In addition, the gripper features modularity, i.e., single phalange…