Abstract
This paper presents the development of a selfadaptive and versatile gripper. This hand has three fingers and each of the fingers has a drive roller to realize handling function. The selfadaptability of the hand is obtained using underactuation. The underactuated mechanism is composed of three planetary gear reducer. Also, die way of using planetary gear reducer is not the same as the one used by other researchers. Firstly, the principle and mechanism of the gripper are proposed. Secondly, design parameters are determined using static force analysis about a finger contacting with an object. Finally, effectiveness of underactuated mechanism and design parameters are confirmed by performing simulations considering dynamic behaviour.
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