Antropomorphic gripper with two symmetrical fingers, designed for industrial robots

Abstract

This paper describes a two-fingered anthropomorphic gripper with two phalanxes on each finger. This gripper was designed as an alternative to the very complex and expensive anthropomorphic grippers, which often show a low liability and which are not available for current gripping applications in robotic manipulation operations. In order to determine the structural and functional characteristics of the gripper, we carried out a multi-criteria analysis of 16 known anthropomorphic grippers. After completing the structural-kinematic diagram, we went on with the kinematic and static analysis, upon which the CAD project was drawn, then followed the functional simulation and the prototype. The prototype was tested on an experimental stand, while gripping different shaped objects, with all sorts of physical-mechanical characteristics. A further version will allow the installation and testing of the gripper on an industrial robot.