Study of the construction and working principle of tendon type multi fingered robotic gripper

Abstract

It is proposed to study the construction and working principle of Tendon type multi fingered Robotic gripper. The criterion for gripper selection is tendon driven and anthromorphic. It has a simple mechanism to grasp irregular shaped objects. To achieve this goal we intend to incorporate a simple linkage actuation mechanism. A tendon is used to actuate the fingers of the gripper using pulley and low flanged cylinder arrangement. One end of the tendons is wound about the low flanged cylinder whereas the other end is hinged to the finger tip. The low flanged cylinder is coupled to a geared D.C. Motor. Each revolute joint of the finger and thumb has a pulley over which the tensioning and loosening tendon is mounted in opposite directions. Each finger has three revolute joints and thumb has two revolute joint. The gripper can perform the basic function of picking, holding and grasping of objects. The tendoning of the revolute joints mechanism is such that it provides the gripper the ability to conform to the object topology.