A Three-Fingered Adaptive Gripper with Multiple Grasping Modes
Long Kang,Yang Yang,Jian Yang,Byung-Ju Yi,Long Kang,Yang Yang,Jian Yang,Byung-Ju Yi
This paper presents an underactuated robotic gripper that consists of three fingers. This gripper is driven by seven actuators and capable of grasping a wide range of objects in different working scenarios. A combination of a four-bar mechanism and parallelograms ensures that each finger can provide the basic pinch grasp and power grasp. Detailed fingertip grasping force analysis shows the large p...
