*Motions are not real-time
Abstract
We present the Plug-And-Play Robotic Arm System (PAPRAS), a novel robotic platform designed for rapid deployment in everyday environments. PAPRAS comprises portable robotic arms, modular docking mounts, and an adaptable software architecture. By enabling seamless retrofitting onto household appliances and analyzing the task space within home environments, PAPRAS allows for efficient exploration and configuration of its workspace to meet the demands of various tasks.
PAPRAS features a lightweight arm (under 6 kg) with an optimized 3D-printed structure, offering a high payload capacity of about 3 kg. For enhanced portability, a built-in locking mechanism is integrated into the design, and the 3D-printed docking mount allows for quick and easy installation. The software architecture is built on an open-source framework and optimized for low-latency, multi-agent, distributed control of multiple manipulators. To demonstrate the system’s usability and efficiency, we showcase its deployment across various environments.
Video
Payload Test
To test the limits of the system, 300 random poses near the edge of PAPRAS’s workspace were sampled in simulation. From these, 10 high-effort poses—where motor torques approached their limits—were selected. A continuous motion was then planned between them while avoiding collisions. PAPRAS successfully executed the motion both in simulation and on hardware, demonstrating its full-range capability and reliability.URDF Models
All of the PAPRAS URDF models are open-sourced and available on GitHub.For more models using PAPRAS, please visit this playground.
Custom Fingertip for Gripper
For better interaction with the environment, we developed a custom gripper that can be easily swapped in for the original fingertip of a commercial gripper. This includes a Fin Ray fingertip design and an adapter specifically for mounting the fingertip. Printed in TPU at a smaller scale than the Universal Manipulation Interface (UMI) gripper’s fingertip, this Fin Ray design enables more flexible, adaptive contact with objects and the environment, allowing the gripper to grasp a wider variety of shapes.
Dexterous Hand
To enable more natural and versatile manipulation, we utilize a commercially available prosthetic hand as our dexterous gripper. Originally designed for human use, this gripper offers highly articulated finger movements and compliant interaction with objects.
Passive Jamming Gripper
For improved adaptability, we utilize a lip-inspired passive jamming gripper based on the oral structure of dogs. The gripper uses soft, flexible lip-like pouches with internal teeth structures to passively conform to various object shapes. By mimicking how dogs hold items in their mouths, the design improves grasp stability and allows for more reliable interaction with diverse everyday objects. Read more here
Three Fingered Hand
To enable both compliance and tactile sensing, a soft robot hand using 3D-printed PETG, TPU, and conductive TPU components was developed. Built with commercial servo motors, the hand is low-cost, durable, and easy to fabricate. The soft fingertips integrate tactile sensing using off-the-shelf air-pressure and capacitive sensors, allowing the hand to detect interaction forces and proximity to conductive objects, making it a versatile tool for a wide range of manipulation tasks. Read more here
