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The station includes a serial robot on which a gripper based on a globoid worm is installed. The gripping device is parameterized and takes into account the gripping force for different finger deflections. 3D models were developed using Computer Aided Design (CAD)\u00a0system tools, after which working layouts were created using 3D printing. The design process and test results are discussed to show the efficiency of the built prototype with lab tests.<\/jats:p>","DOI":"10.1017\/s0263574722001114","type":"journal-article","created":{"date-parts":[[2022,8,10]],"date-time":"2022-08-10T06:37:01Z","timestamp":1660113421000},"page":"4570-4585","source":"Crossref","is-referenced-by-count":4,"title":["Design of gripping devices based on a globoid transmission for a robotic biomaterial aliquoting system"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0821-1374","authenticated-orcid":false,"given":"Artem","family":"Voloshkin","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8856-7823","authenticated-orcid":false,"given":"Larisa","family":"Rybak","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6733-3817","authenticated-orcid":false,"given":"Vladislav","family":"Cherkasov","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0831-8358","authenticated-orcid":false,"given":"Giuseppe","family":"Carbone","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2022,8,10]]},"reference":[{"key":"S0263574722001114_ref7","doi-asserted-by":"publisher","DOI":"10.3390\/robotics5020011"},{"key":"S0263574722001114_ref12","doi-asserted-by":"crossref","first-page":"107","DOI":"10.1007\/978-1-4471-4664-3_5","article-title":"Industrial grippers: state-of-the-art and main design characteristics","volume":"10","author":"Penisi","year":"2013","journal-title":"Grasp. 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