Asymmetrical End-Effector

A functional end-effector designed in Fusion360 for robotic laundry folding. The design features an asymmetrical finger geometry to replicate the natural human pinching motion, enabling more reliable fabric grasping.

The mechanism uses a parallel linkage driven by Daimao DC Brushless Motors mounted on a linear guide rail, allowing precise control of grip force and finger positioning.

The end-effector was FDM 3D printed and tested against off-the-shelf grippers, achieving a 20% performance increase in fabric manipulation tasks.

Design

3D Printed Result

Details

• CAD: Fusion360
• Actuation: Daimao DC Brushless Motors
• Motion: parallel mechanism on linear guide rail
• Fabrication: FDM 3D printing
• Result: 20% performance increase over off-the-shelf grippers