Hybrid Compliant Gripper (HCG)

The Hybrid Compliant Gripper (HCG) based on the thumb modules of DLR CLASH (Compliant Low-cost Antagonistic Servo Hand). The gripperwas introduced first 2021 on the trade fair MOTEK in Stuttgard.

Technical data:

Size:	170 × 120 × 240 mm³
Weight:	640g
Degrees of freedom:	8
Payload:	20N Finger
Power supply:	12–30 V
Joint velocity:	360°/s
Interface:	USB
Features:	changeable fingertips vaccum pump for suction 8 tendon force sensor changeable suctions cups tflexibel base structure for shock absorbing Tiltable fingermoduls for grasp span of over 250 mm

System description

The idea behind the Hybrid Compliant Gripper was to solve the problem of full boxes in logistic tasks, which can be very difficult for grippers, because they have to place the fingers in the interspaces between the objects to grasp one out, which is challenging for the vision and the planner. Suction grippers can easily grasp objects from the top, but are not able to grasp for example blueberry punnets with micro holes in the surface. The HCG supports the mounting of special fingertips with suction cups to grasp object from the top, or grasp them from the side as a normal gripper. The gripper based on the thumb modules from the DLR CLASH Compliant Low cost Antagonistic Servo Hand, includes two extra degrees of freedom to tilt these modules, which allows to increase the possible grasp span to over 250mm. Furthermore, with the suction cups new ways of in-hand manipulation are possible for a two-finger gripper. The changeable fingertips allow also to integrate sensorised fingertips or electromagnetic fingertips for special tasks.