Instagrasp V1.0

Instagrasp is an entierly 3D printed gripper that can be made on a hobby grade printer. It is based on the Yale OpenHand T42, but is significantly easier and cheaper to assemble. TPU parts replace molded finger parts and thread (tendons).

The only additional parts you need are two low-cost Dynamixel XL430-W250 actuators (or the more expensive and powerful XM430-W350) and the screws that come with those actuators.

The research paper on this work is due to be presented at IROS2023. The preprint can be accessed at https://arxiv.org/abs/2305.17029