20.500.12556/RUL-182428 Adaptive gripper fingers with passively aligning articulated hemispherical pads Robotic 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. grippers grasping compliant mechanism adaptive gripper finger robotic manipulation prijemala prijemanje prilagodljiv mehanizem prilagodljivi prst prijemala robotska manipulacija true false true Angleški jezik Slovenski jezik Članek v reviji 2026-05-11 14:39:00 2026-05-11 14:39:10 2026-05-12 04:43:32 0000-00-00 00:00:00 2026 0 0 13 str. art. 103534 Vol. 118 Sep. 2026 0000-00-00 Zaloznikova Objavljeno apc 0000-00-00 0000-00-00 0000-00-00 007.52 0957-4158 10.1016/j.mechatronics.2026.103534 277742851 1-s2.0-S0957415826000826-main.pdf 1-s2.0-S0957415826000826-main.pdf 1 B16709808876DEA2ABC57103062BF53D f3123113a96bb62ab1788399293da44d077e36c914d66ff5f4b48603ac3b465c 4991159c-4d37-11f1-b0ab-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=233676 https://www.sciencedirect.com/science/article/pii/S0957415826000826 1 1c79aa4d-4d36-11f1-b0ab-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=233675 Fakulteta za elektrotehniko 0 0 0