Sake gripper

We have two grippers from SAKE robotics which can be mounted on the IIWAS platform. They have one single motor, thus one single degree of freedom to control.

There also exists self-built simulations of the grippers for V-REP and Gazebo.

Related Git Repositories

SAKE gripper in V-REP
IIWAS cell setup in V-REP development tested stage
SAKE gripper in gazebo
ROS communication interface

Interesting properties

The design of the grippers allows them to execute different grasps depending on where the object is placed and how it is shaped. Regarding only the current motor position, such different grasp types can not be distinguished.

Publications

Bib
Thiem, S. (2017). Simulation of the underactuated Sake Robotics Gripper in V-REP and ROS, Bachelor Thesis.
Bib
Thiem, S.; Stark, S.; Tanneberg, D.; Peters, J.; Rueckert, E. (2017). Simulation of the underactuated Sake Robotics Gripper in V-REP, Workshop at the International Conference on Humanoid Robots (HUMANOIDS).