Abstract
The trend towards collaborative robots is resulting in these "machine workers" working alongside humans in many workplaces. They can be used for a wide range of tasks and, most importantly, can rapidly switch between tasks. When it is no longer necessary for them to work at one location, they can simply be transferred to support another production process. With their universal gripper they can handle a wide range of tasks, however, custom accessories may need to be produced in specific areas. One such accessory could be sleeves that are mounted on the grippers to extend the use of the universal gripper. This paper aims to provide assistance on how to design these fingers.
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