Robotic automation in life science research is a paradigm that has gained increasing relevance in recent years. Current solutions in this area often have limited scope, such as pick-and-place tasks for a specific object. Thus, each new process requires a separate toolset, which prevents the realization of more complex workflows and reduces the acceptance of robotic automation tools. Here, we present a novel finger system for a parallel gripper for biolaboratory automation that can handle a wide range of liquid containers. This flexibility is enabled by developing the fingers as a dual-extrusion 3D print. The coating with a soft material from the second extruder in one seamless print and the fingertip design are key features to enhance grasping capabilities. By employing a passive compliant mechanism that was previously presented in a finger called ``PaCoMe'', a simple actuation system and a low weight are maintained. The ability to resist chemicals and high temperatures and the integration with a tool exchange system make the fingers usable for daily laboratory use and complex workflows. We present their task suitability in several experiments showing the wide range of vessels that can be handled as well as their tolerance against displacements and grasp stability.

翻译：生命科学研究中的机器人自动化是一种近年来日益受到关注的范式。当前在该领域的解决方案通常范围有限，例如针对特定物体的拾取与放置任务。因此，每个新流程都需要单独的工具集，这阻碍了更复杂工作流程的实现，并降低了机器人自动化工具的接受度。本文提出了一种适用于平行夹爪的新型手指系统，用于生物实验室自动化，能够处理各种液体容器。这种灵活性通过将手指开发为双挤出3D打印件实现。在一次无缝打印中，从第二个挤出机涂覆的软材料以及指尖设计是增强抓取能力的关键特征。通过采用先前在名为“PaCoMe”的手指中提出的被动柔性机构，保持了简单的驱动系统和低重量。耐化学腐蚀和高温的能力，以及与工具交换系统的集成，使这些手指适用于日常实验室使用和复杂工作流程。我们通过多项实验展示了它们的任务适用性，证明了其可处理的宽泛容器范围，以及对位移的容忍性和抓取稳定性。