Estimation of Dynamic Characteristics of a Novel Non-Parallel Detachable-Jaw Robotic Gripper Using Finite Element Method

Abstract

Abstract Robotic grippers are increasingly aiming towards versatility to suit industrial applications of modern times. Detachable-type jaws of the robotic grippers do play a significant role in diverse end-uses in real-time. A novel contigutive robotic gripper was used in the present study for direct adhesion contact to meet the technical challenges of force-closure of the grasp. The crux of the design was realized through an iterative optimization so as to ensure mismatch of natural frequency of the gripper and the forcing frequency in order to avoid resonance condition. Natural frequencies and mode shapes of the prototype gripper system were studied in order to understand its dynamic behaviour. Two commercial Finite Element Analysis Software were used for the effective characterization of the real-time dynamics of the gripper system. The dynamic analysis and simulation were instrumental in manufacturing of the test-pieces and final prototype of our indigenous robotic gripper.