Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

摘要

Recent technological advances enable gripper-equipped robots to perform many tasks traditionally associated with the human hand, allowing the use of grippers in a wide range of applications. Depending on the application, an ideal gripper design should be affordable, energy-efficient, and adaptable to many situations. However, regardless of the number of grippers available on the market, there are still many tasks that are difficult for grippers to perform, which indicates the demand and room for new designs to compete with the human hand. Thus, this paper provides a comprehensive review of robotic arm grippers to identify the benefits and drawbacks of various gripper designs. The research compares gripper designs by considering the actuation mechanism, degrees of freedom, grasping capabilities with multiple objects, and applications, concluding which should be the gripper design with the broader set of capabilities.