A High Degree of Freedom, Lightweight, Multi-Finger Robotic End-Effector

Abstract

Researchers at the University of California, Davis have developed a technology that introduces a highly adaptable, lightweight robotic end effector designed for complex manipulation tasks in automation.

Full Description

The technology encompasses a robotic end effector apparatus equipped with a palm assembly featuring five fingers, each with multiple independently controlled phalangeal joint assemblies. These assemblies are driven by linear actuators actuated by motors positioned within the phalangeal cavities, offering a high degree of dexterity and adaptability for various tasks. Additionally, the end effector includes a wrist assembly that enhances its flexibility and application range, making it suitable for intricate assembly tasks that require human-like dexterity.

Applications

• Automated assembly lines requiring dexterous manipulation. 
• Custom product manufacturing with high variability in tasks.
• Research and development in robotics and automation technologies. 
• Industries requiring high precision and adaptability, such as electronics and automotive manufacturing.

Features/Benefits

• Provides a high degree of freedom with multiple independently controlled phalangeal joints. 
• Lightweight design is compatible with a wide range of robotic arms. 
• Effectively handles tasks designed for human workers with anthropomorphic features. 
• Self-locking capability for enhanced precision and stability in manipulation. 
• Integrated wrist assembly for increased flexibility and range of motion. 
• Reduces technical complexity and limited adaptability in assembly automation. 
• Overcomes limitations of current robotic grippers in performing complex manipulation tasks. 
• Addresses economic and practical constraints in adapting automation for small batches or custom products.

Patent Status

Patent Pending

Related Materials

• Basheer, Al & Chang, Justin & Chen, Yuyang & Kim, David & Soltani, Iman. (2025). Krysalis Hand: A Lightweight, High-Payload, 18-DoF Anthropomorphic End-Effector for Robotic Learning and Dexterous Manipulation. 10.48550/arXiv.2504.12967. - 04/17/2025