1-Degree-of-Freedom Robotic Gripper With Infinite Self-Twist Function

This study proposed a novel robotic gripper that can achieve grasping and infinite wrist twisting motions using single actuator. The is equipped with differential gear mechanism allows switching between the according to magnitude of tip force applied finger. motion activated when below set value, exceeds this value. “Twist grasping,” special mode wrapping flexible thin object around fingers gripper, be achieved by motion. Twist effective for handling objects parts, such as laminated packaging pouches, are difficult grasp conventional antipodal grasping. In study, design presented, twist analyzed. performance experimentally validated.