Design, Fabrication and Control of a Three-Finger Robotic Gripper

Abstract

In this article a robotic gripper with the ability of cylindrical object grasping is designed and fabricated. With the increasing use of robotic arms in industry, grasping and holding, as a part of industrial processes, are of great importance. Hence, proper design of grippers plays a key role in efficient performance of robotic arms. The main feature of this design is its reliability and efficiency while maintaining simplicity. This robotic gripper is designed for installing on a mobile robot with the task of holding and moving cylindrical object. One of the aspects of an efficient robotic gripper is its ability to satisfy the "Form-gripping" feature which is utilized for the presented design. Kinematic consideration is examined by Catia. Finally, control methods through Matlab and experimental test results are presented in this paper.