Design of a Multiple Degrees of Freedom Robotic Gripper for Adaptive Compliant Actuation

摘要

With rapid development of assistive technologies, robots have been adopted to assist impaired persons to perform daily functions. To increase functionality of robotic arm in grasping, a universal robotic gripper consists of multiple degrees of freedom (DOF) is proposed and examined in this paper. Through modelling, simulation, and mechatronics integration, the proposed gripper design is validated to be able to morph its shape to adapt objects with various shapes. Compliance of the gripper in grasping is also validated, which can increase the safety should it be included in assistive devices.