Design and control of two fingered compliant gripper for micro gripping

Abstract

During past two decades many efforts have been made by different researchers in developing robotic grippers. Some of these grippers are robust and used for handling large objects. On the contrary, certain grippers are adroit enough even to handle biological cells. Wide varieties of grippers are now-a-days available featuring different kinematic ability, dexterity, mode of actuation, usage of sensors, maximum weight carrying capabilities and many more attributes. But they all accord to a single issue, i.e. inspiration. In recent years some compliant grippers have been developed but the crucial issue of controlling them still remains a topic of discussion. In this paper a novel design have been proposed which enables us having the force information from the gripper structure itself which in turn will contribute in controlling the gripper properly.