Reconfigurable Anthropomorphic Gripper with Three Fingers: Synthesis, Analysis, and Simulation

Abstract

This paper shows the steps of structural synthesis and analysis, kinematic synthesis and analysis and CAD constructive design of a reconfigurable modular anthropomorphic gripper with three fingers. Modularity refers to the fact that the gripper variants can be obtained with only two modules, namely a platform and a finger. Reconfigurability refers to the fact that the main variants of the gripper can be obtained by changing the relative position of the fingers. It is demonstrated that the three-finger gripper has four main configurations that provide important functionality even reported to the functionality of a three-finger gripper with continuous reconfigurability. To verify correct operation, functional CAD simulation is performed, and for dynamic operation simulation, we turn to the advanced software ADAMS. An important advantage of this type of gripper, compared to those with continuous reconfigurability, is much lower price at a relatively good functionality for current robotic gripping operations. The paper makes possible subsequent turn to prototype, testing the gripper operation, as it is mounted on an industrial robot, and optimization of its operation by equipping it with contact sensors. The simulation of the gripper operation in virtual environment and data transmission to the real gripper is a solution of interest that will be studied in future research.