Fabricating existing and popular open-source adaptive robotic grippers commonly involves using multiple professional machines, purchasing a wide range of parts, and tedious, time-consuming assembly processes. This poses a significant barrier to entry for some robotics researchers and drives others to opt for expensive commercial alternatives. To provide both parties with an easier and cheaper (under 100GBP) solution, we propose a novel adaptive gripper design where every component (with the exception of actuators and the screws that come packaged with them) can be fabricated on a hobby-grade 3D printer, via a combination of inexpensive and readily available PLA and TPU filaments. This approach means that the gripper's tendons, flexure joints and finger pads are now printed, as a replacement for traditional string-tendons and molded urethane flexures and pads. A push-fit systems results in an assembly time of under 10 minutes. The gripper design is also highly modular and requires only a few minutes to replace any part, leading to extremely user-friendly maintenance and part modifications. An extensive stress test has shown a level of durability more than suitable for research, whilst grasping experiments (with perturbations) using items from the YCB object set has also proven its mechanical adaptability to be highly satisfactory.

翻译：目前制造流行且开源的机器人自适应夹爪通常需要借助多台专业设备、购买大量零部件，并经历繁琐耗时的组装过程。这给部分机器人研究者带来了显著的入门门槛，同时迫使其他研究者选择昂贵的商业替代品。为了向这两类群体提供更简便且成本更低（低于100英镑）的解决方案，我们提出了一种新型自适应夹爪设计——除执行器及其配套螺钉外，所有组件均可通过家用级3D打印机结合廉价易得的PLA和TPU线材制造完成。该方法使夹爪的肌腱、柔性关节及指垫均可直接打印，取代了传统的绳状肌腱与模铸聚氨酯柔性件。采用推入式装配系统后，组装时间缩短至10分钟以内。该夹爪设计具备高度模块化特性，任何部件更换仅需数分钟，极大提升了维护便利性与部件修改灵活性。经过严苛的应力测试验证，其耐久性完全满足科研需求；同时，基于YCB物体集的抓取实验（含扰动测试）也证明其机械适应性表现令人满意。