DeGrip: A Compact Cable-driven Robotic Gripper for Desktop Disassembly

2025/10/17 by B. Zhang, Davood Soleymanzadeh, Zhang, Bihao +5 · 1 citation
Computer Science · Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Interactive and Immersive Displays #Manufacturing Process and Optimization #Robot Manipulation and Learning #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2510.16231

openalex publication_date 2025/10/17 · openalex created_date 2025/10/22 · openalex updated_date 2026/07/28

Abstract

Intelligent robotic disassembly of end-of-life (EOL) products has been a long-standing challenge in robotics. While machine learning techniques have shown promise, the lack of specialized hardware limits their application in real-world scenarios. We introduce DeGrip, a customized gripper designed for the disassembly of EOL computer desktops. DeGrip provides three degrees of freedom (DOF), enabling arbitrary configurations within the disassembly environment when mounted on a robotic manipulator. It employs a cable-driven transmission mechanism that reduces its overall size and enables operation in confined spaces. The wrist is designed to decouple the actuation of wrist and jaw joints. We also developed an EOL desktop disassembly environment in Isaac Sim to evaluate the effectiveness of DeGrip. The tasks were designed to demonstrate its ability to operate in confined spaces and disassemble components in arbitrary configurations. The evaluation results confirm the capability of DeGrip for EOL desktop disassembly.

Citations

• RAISE: A Robot-Assisted Selective Disassembly and Sorting System for End-of-Life Phones
• SRSA: Skill Retrieval and Adaptation for Robotic Assembly Tasks
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• Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
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• Robots Assembling Machines: Learning from the World Robot Summit 2018 Assembly Challenge

Cited by

• Vision-Language-Action Models for Selective Robotic Disassembly: A Case Study on Critical Component Extraction from Desktops

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