Design and Fabrication of a Three-Finger Robotic Gripper for STEM Education Application

Teo, Chen Xi (2026) Design and Fabrication of a Three-Finger Robotic Gripper for STEM Education Application. Final Year Project (Diploma), Tunku Abdul Rahman University of Management and Technology.

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Abstract

This project presents the design and fabrication of a cost-effective three-finger robotic gripper intended for STEM education applications. The study addresses the limitations of conventional educational grippers, which are typically single-purpose, lack adaptability, and restrict hands-on learning experiences. Agear-driven linkage mechanism actuated by a servo motor was proposed to achieve synchronized finger motion and improved object handling capability. Three conceptual designs were developed and evaluated using the Pugh decision method based on criteria including stability, cost, durability, and portability. The selected design, a three-finger centric gripper, was modelled usingCADsoftware and fabricated using fused deposition modelling (FDM) 3D printing with PLA material. The system was integrated with an Arduino-based control unit using time-based servo control. Experimental evaluationwas conducted to assess the gripper’s performance in terms of motion accuracy, finger rotation behaviour, and gripping capability. Results showed that the prototype was able to reliably grasp medium-sized objects of various shapes, particularly cylindrical and spherical items, while limitations were observed in handling very small, large, or heavy objects. Time-based control demonstrated acceptable repeatability for educational purposes, although minor deviations from theoretical motion were recorded due to servo inaccuracies and mechanical losses. Overall, the developed gripper provides a low-cost and functional solution for demonstrating fundamental robotics concepts such as actuation, linkage mechanisms, and control systems. The project contributes to enhancing practical STEM learning by offering an accessible platform for experimentation and innovation. Future improvements may include the integration of higher-precision actuators and feedback control systems to enhance accuracy and performance