Dual-Material 3D-Printed PaCoMe-Like Fingers for Flexible Biolaboratory Automation

Robotic automation in life science research is a paradigm that has gained increasing relevance in recent years. Current solutions in this area often have limited scope, such as pick-and-place tasks for a specific object. Thus, each new process requires a separate toolset, which prevents the realization of more complex workflows and reduces the acceptance of robotic automation tools. Here, we present a novel finger system for a parallel gripper for biolaboratory automation that can handle a wide range of liquid containers. This flexibility is enabled by developing the fingers as a dual-extrusion 3D print. The coating with a soft material from the second extruder in one seamless print and the fingertip design are key features to enhance grasping capabilities. By employing a passive compliant mechanism that was previously presented in a finger called ``PaCoMe'', a simple actuation system and a low weight are maintained. The ability to resist chemicals and high temperatures and the integration with a tool exchange system make the fingers usable for daily laboratory use and complex workflows. We present their task suitability in several experiments showing the wide range of vessels that can be handled as well as their tolerance against displacements and grasp stability.