Adaptive gripper fingers with passively aligning articulated hemispherical padsKlemenčič, Tilen (Avtor) Munih, Marko (Avtor) Mihelj, Matjaž (Avtor) Podobnik, Janez (Avtor) grippersgraspingcompliant mechanismadaptive gripper fingerrobotic manipulationRobotic grippers require both adaptability to diverse object shapes and sufficient strength for robust manipulation. This study presents adaptive gripper fingers that combine passively aligning articulated hemispherical pads with a compliant silicone layer to improve shape accommodation and force transmission during grasping. The structure features hemispherical pads embedded in low-friction grooves, allowing passive alignment to local object geometry during contact. A low-cost fabrication process involving 3D printing and silicone molding is employed, making the design suitable for various applications. Experimental validation was conducted using pull-off force tests on multiple 3D-printed objects selected to represent a range of characteristic object geometries, along with deformation measurements on a soft object. Results show that, for the tested objects and grasping conditions, the proposed design improves pull-off performance and reduces deformation of a soft test object relative to the evaluated reference finger designs.20262026-05-11 14:39:00Članek v reviji182428sl