{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,28]],"date-time":"2026-01-28T20:12:46Z","timestamp":1769631166332,"version":"3.49.0"},"reference-count":18,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2023,4,17]],"date-time":"2023-04-17T00:00:00Z","timestamp":1681689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>Modern industrial applications of robotics such as small-series production and automated warehousing require versatile grippers, i.e., grippers that can pick up the widest possible variety of objects. These objects must often be grasped or placed inside a container, which limits the size of the gripper. In this article, we propose to combine the two most popular gripper technologies in order to maximise versatility: finger grippers and suction-cup (vacuum) grippers. Many researchers and a few companies have followed this same idea in the past, but their gripper designs are often overly complex or too bulky to pick up objects inside containers. Here, we develop a gripper where the suction cup is lodged inside the palm of a two-finger robotic hand. The suction cup is mounted on a retractile rod that can extend to pick up objects inside containers without interference from the two fingers. A single actuator drives both the finger and sliding-rod motions so as to minimise the gripper complexity. The opening and closing sequence of the gripper is achieved by using a planetary gear train as transmission between the actuator, the fingers and the suction cup sliding mechanism. Special attention is paid to minimise the overall gripper size; its diameter being kept to 75\u00a0mm, which is that of the end link of the common UR5 robot. A prototype of the gripper is built and its versatility is demonstrated in a short accompanying video.<\/jats:p>","DOI":"10.3389\/frobt.2023.1066516","type":"journal-article","created":{"date-parts":[[2023,4,17]],"date-time":"2023-04-17T05:42:26Z","timestamp":1681710146000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":9,"title":["A compact underactuated gripper with two fingers and a retractable suction cup"],"prefix":"10.3389","volume":"10","author":[{"given":"Julien","family":"Courchesne","sequence":"first","affiliation":[]},{"given":"Philippe","family":"Cardou","sequence":"additional","affiliation":[]},{"given":"Palamanga Abdoul","family":"Rachide Onadja","sequence":"additional","affiliation":[]}],"member":"1965","published-online":{"date-parts":[[2023,4,17]]},"reference":[{"key":"B1","volume-title":"Self-adaptive mechanical finger and method","author":"Birglen","year":"2015"},{"key":"B2","doi-asserted-by":"crossref","DOI":"10.1109\/SMC.2019.8914479","article-title":"Design of a soft robotic gripper for improved grasping with suction cups","author":"Bryan","year":"2019"},{"key":"B3","doi-asserted-by":"publisher","first-page":"1001","DOI":"10.13031\/aea.29.9913","article-title":"Development of the end-effector of a picking robot for greenhouse-grown tomatoes","volume":"29","author":"Chiu","year":"2013","journal-title":"Appl. Eng. Agric."},{"key":"B4","doi-asserted-by":"publisher","first-page":"753","DOI":"10.1177\/0278364913519148","article-title":"The velo gripper: A versatile single-actuator design for enveloping, parallel and fingertip grasps","volume":"33","author":"Ciocarlie","year":"2014","journal-title":"Int. J. Robotics Res."},{"key":"B5","article-title":"A single-actuator adaptive gripper with an integrated suction cup","volume-title":"CCToMM mechanisms, machines, and mechatronics symposium (virtual)","author":"Courchesne","year":"2021"},{"key":"B6","doi-asserted-by":"publisher","first-page":"585","DOI":"10.1177\/0278364909360852","article-title":"The highly adaptive sdm hand: Design and performance evaluation","volume":"29","author":"Dollar","year":"2010","journal-title":"Int. J. Robotics Res."},{"key":"B7","first-page":"1164","article-title":"A three-fingered hand with a suction gripping system for picking various objects in cluttered narrow spaces","author":"Hasegawa","year":"2017"},{"key":"B8","first-page":"161","article-title":"Robot end effector for memory module and processor installation","author":"Hughes","year":"2020","journal-title":"U. S. Pat. App"},{"key":"B9","first-page":"1","article-title":"Design of an integrated gripper with a suction system for grasping in cluttered environment","author":"Kang","year":"2019"},{"key":"B10","volume-title":"Actuation system for highly underactuated gripping mechanism","author":"Lalibert\u00e9","year":"2000"},{"key":"B11","doi-asserted-by":"publisher","first-page":"147","DOI":"10.3389\/frobt.2019.00147","article-title":"Hands in the real world","volume":"6","author":"Negrello","year":"2020","journal-title":"Front. Robotics AI"},{"key":"B12","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1146\/annurev-control-060117-105003","article-title":"A century of robotic hands","volume":"2","author":"Piazza","year":"2019","journal-title":"Annu. Rev. Control, Robotics, Aut. Syst."},{"key":"B13","unstructured":"Cnc machine tending kit"},{"key":"B14","unstructured":"Hand-e"},{"key":"B15","unstructured":"Vacuum grippers"},{"key":"B16","doi-asserted-by":"publisher","first-page":"181","DOI":"10.1108\/01439910010371597","article-title":"The barretthand grasper\u2014Programmably flexible part handling and assembly","volume":"27","author":"Townsend","year":"2000","journal-title":"Industrial Robot Int. J."},{"key":"B17","unstructured":"Ur52023"},{"key":"B18","first-page":"3750","article-title":"Robotic pick-and-place of novel objects in clutter with multi-affordance grasping and cross-domain image matching","author":"Zeng","year":"2018"}],"container-title":["Frontiers in Robotics and AI"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2023.1066516\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,4,17]],"date-time":"2023-04-17T05:42:30Z","timestamp":1681710150000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2023.1066516\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,4,17]]},"references-count":18,"alternative-id":["10.3389\/frobt.2023.1066516"],"URL":"https:\/\/doi.org\/10.3389\/frobt.2023.1066516","relation":{},"ISSN":["2296-9144"],"issn-type":[{"value":"2296-9144","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,4,17]]},"article-number":"1066516"}}