The DBCF-EM Gripper
Using Dual-Belt Curved-Flexure Eversion Mechanism Fingers for Confined-Space Robotic Grasping
A. E. Huisjes (TU Delft - Mechatronic Systems Design)
J.H.B. Friederich
J. L. Herder (TU Delft - Mechatronic Systems Design)
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Abstract
Conventional fingered grippers often struggle in confined spaces because limited lateral access prevents finger insertion and inward closing. This paper presents the DBCFEM gripper, whose fingers combine a base-driven curved flexure, prescribing a tangential object-following trajectory, with a dualbelt eversion system that creates near-stationary contact surfaces and reduces sliding at the contact interfaces. This enables a lowdisturbance caging grasp strategy in which the fingers propagate along the object surface rather than closing perpendicularly toward it. A prototype gripper was built for robotic tomatoremoval experiments from a crate. Experiments showed contour following with a maximum deviation of 3 mm, negligible normal disturbance of at most 0.1 N, and a 91–97 reduction in tangential disturbance forces. In robotic trials, the gripper achieved 100% pick-up success and a 91% damage-free success rate, demonstrating its effectiveness for confined-space grasping.
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