Design of a robotic gripper with two servo motors for infinite wrist rotation and performance evaluation for valve operation
摘要
In this study, we proposed a robot gripper with a parallel linked fingertip mechanism and unlimited rotation of the wrist by two actuators. This robot gripper is designed to continuously rotate valves in a plant where a disaster has occurred. To accommodate different tasks, the fingertips are equipped with a five-joint linkage, and two fingers are operated by a feed screw mechanism. The performance was verified and analyzed by measuring the gripping force of the fingertips and the rotational torque of the wrist.