Monorail-Like Gripper System with Dynamic and Modular Reconfiguration for Diverse Finger Layouts

Abstract

Robotic grasping requires flexible reconfiguration to handle diverse objects and tasks. This paper proposes a monorail-like reconfiguration framework for robotic grippers, inspired by train–rail relationships, that generates diverse finger layouts. The proposed framework unifies two complementary forms: dynamic reconfiguration, in which finger units move along an arbitrary non-circular track defined by the palm shape (palm track) to change the finger layout, and modular reconfiguration, in which the palm track shape and the number of fingers are modified to alter the achievable finger layout space. We developed a prototype gripper system that embodies the proposed framework and experimentally validated its unified reconfiguration capability. Dynamic reconfiguration with the S-shaped palm achieved seven distinct finger layouts with successful object grasping, while on-the-fly modular reconfiguration expanded the achievable finger layout space, enabling rapid adaptation to different grasping tasks. This work establishes a new design principle for reconfigurable grippers toward highly adaptive and versatile robotic grasping.