Paperbased modular origami gripper In this paper, a novel method to construct a versatile gripper which can grasp various sizes and shapes of objects is proposed. The design and construction of this gripper is based on a paper folding technique called xe2x80x98modular origamixe2x80x99 This particular type of origami is constructed from multiple modules which can transform its shape by rotation. The gripper is actuated by a single motor using a linkage mechanism. The grasping part of this gripper is made of paper, thus it provides sufficient compliance to bend itself and create multiple contact points around objects with different shapes. This gripper can be used in two modes: force grasping and cage grasping. The proposed gripper was tested on objects with various shapes, weights and sizes. Furthermore, how the property of the paper affects the performance of the gripper was also tested. The thickness of the gripper material affects the compliance of the gripper and the range of sizes of objects which can be successfully gripped.

Development of New Extensible Components for Enabling a More Flexible Usage of JammingGripper In many applications, gripping systems are key elements to turn industrial robots into flexible and versatile handling systems. Depending on the gripping principle those systems can either be rather limited or very flexible in terms of gripping a broad variety of different objects. The socalled jamminggripper can grasp a wide range of objects by passively adapting to the shape of different workpieces. The purpose of the work described in this paper is to develop extensible components for optimizing the jamminggripper. Concerning the previous jamminggripper, the problems related to a mechanical structure, installing a filter, a balloon as a membrane, and filling the balloon with powder are investigated to improve the jamminggripper system. A new gripper system designed is presented to not only address the existing problems but also to make it even more userfriendly and practical. Tests are performed to determine the influence of three different filling ratios of the membrane on the gripping performance for objects with complex geometries.