Plates and panels
YuMi 3-Finger Tendon-Driven Gripper
- Bounding box
- 50.0 × 50.0 × 59.0 mm
- Engine
- Precision B-rep
- Parameters
- 22
- Published
- September 8, 2026
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The prompt
I’m working on a project that includes yumi robot single arm. The robot arm should pick a cup and place it in a dishwasher tray, we are working on developing the gripper for that, the gripper will be tendon driven with one motor controlling 2 opposite fingers, we will use one mouse sensor. I want a 3 finger cad design for the gripper for the yumi with the given specifications
Parameters
| Name | Value | Range |
|---|---|---|
| Palm Diameter | 50 mm | 30 – 80 |
| Palm Thickness | 8 mm | 4 – 20 |
| YuMi Mount Recess Dia | 30 mm | 20 – 40 |
| Bolt Circle Diameter | 22 mm | 15 – 35 |
| Bolt Count | 3 count | 2 – 6 |
| Bolt Hole Diameter | 3.2 mm | 2 – 6 |
| Center Bore (Tendon Route) | 8 mm | 4 – 16 |
| Finger Count | 3 count | 2 – 5 |
| Finger Mount Radius | 18 mm | 10 – 30 |
| Finger Width | 8 mm | 4 – 16 |
| Finger Thickness | 4 mm | 2 – 8 |
| Base Segment Length | 8 mm | 4 – 16 |
| Proximal Phalanx Length | 20 mm | 10 – 40 |
| Distal Phalanx Length | 15 mm | 8 – 30 |
| Flexure Joint Length | 4 mm | 2 – 8 |
| Flexure Joint Thickness | 1.2 mm | 0.6 – 2.5 |
| Tendon Channel Width | 3 mm | 1.5 – 6 |
| Tendon Channel Depth | 0.5 mm | 0.2 – 1.5 |
| Mouse Sensor Pocket Width | 10 mm | 6 – 16 |
| Mouse Sensor Pocket Length | 10 mm | 6 – 16 |
| Mouse Sensor Pocket Depth | 3 mm | 1 – 6 |
| Fingertip Fillet Radius | 1 mm | 0 – 2 |
Every value above is a live dimension. Open a model like this in the editor and each one becomes a slider you can drag before exporting.
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