Abstract
The objective of this paper is to provide an up-to-date overview of gripping mechanisms for industrial robots. A brief description of a variety of conventional gripping devices used for industrial robots is first given. By means of classification according to kinematic pairs, many gripping mechanisms containing linkages, gears, cams, screws and flexible bands scattered from various sources or even unmentioned in the literature are presented. Several types of versatile grippers including the mouldable grippers, the inflatable grippers, the soft fingers, and the anthropomorphic three-finger grippers are also presented.
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