Design and Implementation of a 4-Bar linkage Gripper

摘要

Design of the end-effector of a robot is of high importance. This is the part of a robot that actually interacts with the object and does grip it. Without a suitable end-effector, a robot cannot function properly. Poorly designed gripper may result in slip of a component from the jaws of a gripper and even damage parts sometimes. A component may be hold with instability, and this can decrease system reliability. In this paper, discussion is made on design considerations that one needs to take into account while designing the 4-bar linkage gripper. The control system applied for it is also briefed.