Design and Fabrication of Robotic Gripper

Abstract

Abstract-This paper presents a new method for the improvement and design of the kinematic structure of a robotic hand for successful grasping of objects in unstructured environments. The main goal is to improve kinematic structure of gripper to increase the grasping capability of large objects and makes a successful grasp of various objects in unstructured environments. Our model contains two fingers with combining a kinematic model of thumb-index. Moreover, some experimental tests are performed to examine the effectiveness of the hand-made in real, unstructured tasks. Our findings show that the presented method provides an accommodative kinematic model which makes the better grasping by fingers geometries for a human-like robotic hand.