Two-finger Multi-DOF Folding Robot Grippers

Document Type

Conference Proceeding

Publication Date

9-1-2022

Abstract

Two-finger robot grippers are widely used in various applications. Most conventional designs have a single degree of freedom (DOF). Other than open-and-close, they do not offer additional manipulation ability. Meanwhile, multi-finger high-DOF hands face cost and reliability issues. This paper presents three- and four-DOF linkage mechanisms to design robot grippers that can conduct two-finger twisting and rolling. Kinematics of the linkage mechanisms is studied. Tendon drives are designed so that the robot grippers can be used on tubular robots. A folding mechanism is proposed to help the gripper go through small entrances and narrow passages. Measures that help with miniaturization are discussed, providing opportunities in certain applications such as minimally invasive surgeries. Several advanced design concepts are also discussed for increasing the potentials of the robot grippers.

Identifier

85145654125 (Scopus)

Publication Title

IFAC Papersonline

External Full Text Location

https://doi.org/10.1016/j.ifacol.2022.10.491

e-ISSN

24058963

First Page

76

Last Page

81

Issue

27

Volume

55

Fund Ref

National Science Foundation

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