Design and Analysis of an Adaptive Robotic Gripper

In this study, an inexpensive fundamental robotic end effector module was investigated in order to make it easier to conduct robotic grasping research. The three-finger under actuated robotic gripper was designed in three dimensions and produced using a servomotor actuator that is readily available off the market and a small number of 3D printed parts. Following a comprehensive explanation of an under actuated finger, gear train mechanisms, in addition to general gripper assembly design, an illustration and explanation of the grabbing of objects with varied geometries follow. For research and instructional reasons, robotic researchers can utilize the offered open-source gripper design as a base to create custom robotic end effectors. An innovative prototype and a thorough introduction as well as an explanation of the gripper design idea are given. Using a four-bar linkage mechanical system and a single off-the-shelf actuator, it is demonstrated that the proposed robotic gripper with a single actuator satisfies the proposed objectives for its simple mechanical structure, low cost, and relatively high payload compared to similarly sized tendon-driven robotic end effectors.