Simulation of Multifinger Robotic Gripper for Dynamic Analysis of Dexterous Grasping

Abstract

Abstract—A stable grasp can only be achieved with multi-fingered grippers. The required task for the robots has become more complicated such as handling of objects with various properties e.g. material, size, mass etc. and the physical interaction between the finger and an object has also become complicated e.g. grasping with slippage, finger gait ….. etc. This paper focuses on enhancing the grasping ability with better sensors backup, which can enable the robot to deal with real life situations. Design procedure, Solid modeling, Force analysis and simulation have been discussed for further dynamic analysis towards confirmation of the viability. This is an effort to design gripper by experimenting with various designs for developing the universal dexterous grasping.