Design, Fabrication and Control of a Three-Finger Robotic Gripper

Abstract

In this article a robotic gripper with the ability of cylindrical object grasping is designed and fabricated. With the increasing use of robotic arms in industry, grasping and holding, as a part of industrial processes, are of great importance. Hence, proper design of grippers plays a key role in efficient performance of robotic arms. The main feature of this design is its reliability and efficiency while maintaining simplicity. This robotic gripper is designed for installing on a mobile robot with the task of holding and moving cylindrical object. One of the aspects of an efficient robotic gripper is its ability to satisfy the "Form-gripping" feature which is utilized for the presented design. Kinematic consideration is examined by Catia. Finally, control methods through Matlab and experimental test results are presented in this paper.

Advancing Robotic Fruit Picking: Adaptive End-Effector Approach

“…This study emphasizes the potential of soft robotics technology in improving grasping flexibility and safety. Salmavati et al made progress in the design, manufacturing, and control of three-finger mechanical graspers, exploring the importance of grasping closure characteristics for improving the operational efficiency of service robots [6]. In addition, Otsuka, and Ren and Jani et al's research on shape memory alloys (SMA) provides a new choice of intelligent materials for robotic graspers [7,8], which can change shape under electrical stimulation, thus providing unprecedented adaptability and flexibility.…”