A Single-Actuator Four-Finger Adaptive Gripper for Robotic Assembly

Efficiently grasping and releasing objects using robotic grippers is an essential step in assembly. This paper presents a low-cost four-finger adaptive gripper capable of performing stable reliable operations on irregular-shaped flat objects. Unlike other systems the fixture-to-fixture assembly, assembly process proposed does not rely any vision or six-axis force/torque sensors. Specifically, assuming that relative position $\bm {\Lambda }$ between two fixtures known, such tasks can be accomplished simply by predefined motion robot arm only related to . mainly because developed adapts shape size grasped object, but also keeps its posture unchanged throughout process. A novel underactuated mechanism consisting X-shaped differential seesaw ones perform fingertip grasps with more contact points. The kinematics statics gripper-object system are derived for analysis design gripper. fabricated, built commercial (UR5) verify capability difficult-to-handle Experimental results show it effective grasp uncertain shape/size position, control force, accomplish etc.