Design of a three fingered robot gripper

摘要

Using an industrial assembly robot to manipulate objects of significantly differing shapes is practically impossible without a universal prehension organ. Robot grippers of great simplicity and dependability are too specific to one particular geometry, whereas existing, complicated grippers, though more universal in nature, are, with only several exceptions, not designed for use in industrial surroundings, being products of prosthetics research or Artificial Intelligence programs Required gripping modes for multiple‐prehension grippers and resulting design constraints are discussed. A computerized optimisation technique for determining applicability of straight‐line‐producing four‐bar linkages is explained. A multiple‐prehension, three‐fingered gripper is proposed that, while being relatively robust, allows reliable gripping of many forms commonly found in light assembly operations.