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Conference Agenda

Overview and details of the sessions of this conference. Please select a date or location to show only sessions at that day or location. Please select a single session for detailed view (with abstracts and downloads if available).

Daily Overview

Session

PROD 2: Product Design & Engineering 2
Location: B8.1.1
Session Chair: Prof. Giovanni Berselli, University Of Genova
Session Chair: Prof. Silvia Ceccacci, University of Macerata

Presentation 1

GraRo: Conceptual Design and CAD/CAE-Based Validation of a Single-Actuator Grasp-and-Rotate End Effector

Xiaoqian ZHANG^1,2, Mario BAGGETTA¹, Cristina PIAZZA², Giovanni BERSELLI¹

1: Department of Mechanical Engineering, University of Genoa, 16145 Genoa, Italy; 2: TUM School of Computation, Information and Technology and Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, 80333 Munich, Germany

Delicate object handling often requires custom-designed end effectors to perform stable and secure closure. In fruit handling, sorting, and, particularly, harvesting, the gripper may need to grasp the object gently, generate a controlled post-grasp rotation to help detach the fruit from the plant, and release it at a desired orientation while keeping the distal mechanism compact. This paper presents GraRo, a single-actuator two-finger gripper that combines tendon-driven compliant fingers with a passive friction-triggered mode-switching module. The same motor input first closes the fingers around the object and is then mechanically redirected to rotate the finger pair after contact loading reaches the switching condition. A CAD/CAE-based validation is conducted to evaluate the grasping range, object rotation, pull-out resistance, and blocked-object twisting behavior for representative spherical objects. The results show that the proposed architecture can complete a continuous grasp-and-rotate sequence over a fruit-sized diameter range and can maintain useful pull-out resistance during post-grasp twisting. These findings support GraRo as a compact mechanically sequenced solution for delicate object manipulation tasks requiring both compliant grasping and controlled reorientation.