STRUCTURAL SYNTHESIS, ANALYSIS AND DESIGN OF THE MODULAR ANTHROPOMORPHIC GRIPPERS FOR INDUSTRIAL ROBOTS

Abstract

Anthropomorphic grippers for robots are similar to human hand and they can have two, three, four or more fingers, with two or three phalanxes. Anthropomorphic grippers for robots compared to other mechanical grippers have more advantages like: a higher degree of dexterity, a larger area of utility (more types of objects can be grasped) and a micro-movement of the grasped objects can be performed. This paper describes one group of modular mechanical anthropomorphic grippers with two versions, with three fingers and with four fingers, designed under coordinating of the author and there are shown more modular solutions. Synthetic, the stages of synthesis, analysis, design and functional simulation are shown too.