The KIT Swiss Knife Gripper for Disassembly Tasks: A Multi-Functional Gripper for Bimanual Manipulation with a Single Arm

This work presents the concept of a robotic gripper designed for the disassembly of electromechanical devices that comprises several innovative ideas. Novel concepts include the ability to interchange built-in tools without the need to grasp them, the ability to reposition grasped objects in-hand, the capability of performing classic dual arm manipulation within the gripper and the utilization of classic industrial robotic arms kinematics within...