Vol.11, No.2, May 2022.                                                                                                                                                                                   ISSN: 2217-8309

                                                                                                                                                                                                                        eISSN: 2217-8333


TEM Journal



Association for Information Communication Technology Education and Science

Design of a New Modular Reconfigurable Gripper


Ahmed Khalid Ahmed, Safeen Yaseen Ezdeen, Ahmad Mohamad Sinjari


© 2022 Ahmed Khalid Ahmed, published by UIKTEN. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License. (CC BY-NC-ND 4.0)


Citation Information: TEM Journal. Volume 11, Issue 2, Pages 763-771, ISSN 2217-8309, DOI: 10.18421/TEM112-33, May 2022.


Received: 26 December 2021.

Revised:   15 March 2022.
Accepted: 21 March 2022.
Published: 27 May 2022.




An entirely new reconfigurable gripper is designed and shown in this paper. The new gripper comprises six modular fingers, which can be rearranged to form any number of fingers between three and six. CAD, CAM, CAE, and PCB software Fusion 360 was used to design the gripper. Also, the gripper fingers are rotatable, so the finger bases can touch each other side-by-side and form one finger. In addition to showing the reconfigure ability of the gripper, several scenarios for grasping different shapes were presented and tested.


Keywords –Reconfigurable gripper, modular gripper design, Fusion 360, grasping.



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