An Underactuated Universal Gripper: Design, Analysis, and Experiment

Chunguang Wang, Yulin Zhou (), Bing Xie, Jiuming Xie and Junsheng Zhang
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Chunguang Wang: School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
Yulin Zhou: School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
Bing Xie: School of Mechanical Engineering, Tianjin University of Science and Technology, Tianjin 300222, China
Jiuming Xie: School of Mechanical Engineering, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, China
Junsheng Zhang: School of Mechanical Engineering, Tianjin University of Science and Technology, Tianjin 300222, China

Energies, 2022, vol. 15, issue 23, 1-17

Abstract: As the working tool of the robot, the importance of the gripper becomes more prominent with the extensive use of the robot. This paper proposes a new type of underactuated universal gripper that can be applied to handle lightweight parts of any shape. It integrates a crank train and a four-bar mechanism to grasp objects. The kinematics and statics analysis of the proposed gripper were carried out; and in this paper, we briefly introduce the concept and control system design. Then, the motion characteristics and grasping ability of the underactuated gripper are presented. A prototype of the gripper was designed and manufactured based on the simulation analysis, and relevant grasping experiments were carried out. The experimental results verify that the proposed universal gripper has the advantages of safe design, easy manufacturing, effective gripping, and stable holding of objects.

Keywords: universal gripper; underactuated; grip analysis; end effector; figure (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
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