Gripper with Average Continuous Reconfigurability for Industrial Robots


Article Preview

Anthropomorphic grippers for robots are used increasingly in robotic applications for handling and assembly. Currently there are several versions of anthropomorphic grippers as projects, prototypes or commercial variants that due to high prices or even for very high ones, are not available for current applications. Among them, high functionality at a relatively low complexity can be noticed in the case of reconfigurable grippers with high reconfigurability, Barrett Hand type. In this context, it is justified finding alternative solutions at lower prices at a lower reconfigurability, with acceptable functionality for current robotic operations. The paper presents an original version of modular anthropomorphic gripper continuous average reconfigurability, with three fingers. There are mentioned, briefly, major structural, kinematic and static issues, a CAD model and CAD simulation for gripping several types of pieces. Furthermore, we intend to achieve a prototype and test it by mounting on an industrial robot.



Edited by:

Prof. Adrian Olaru






S. Jitariu and I. Staretu, "Gripper with Average Continuous Reconfigurability for Industrial Robots", Applied Mechanics and Materials, Vol. 811, pp. 279-283, 2015

Online since:

November 2015




* - Corresponding Author

[1] H. Kawasaki, T. Komatsu, Mechanism Design of Anthropomorphic Robot Hand: Gifu Hand I, Journal of Robotics and Mechatronics. V. 11, No. 4(1999) 269-273.

DOI: 10.20965/jrm.1999.p0269

[2] J. Butterfass et al., DLR-Hand II: Next Generation of a Dextrous Robot Hand. In: Proc. of the IEEE Int. Conference on Robotics and Automation, Seoul, Korea (2001).

DOI: 10.1109/robot.2001.932538

[3] J. Butterfass et al., Design and Experiences with DLR Hand II, In: Proceedings of the World Automation Congress, Seville, Spain (2004).

[4] M. Ceccarelli et al., Design and tests of a three finger hand with 1-DOF articulated , Robotica Journal, V. 24, Issue 2(March 2006)183-196.

[5] A. Kochan, Shadow delivers first hand, Industrial Robot Journal, V. 32, Issue 1(2005)15-16.

DOI: 10.1108/01439910510573237

[6] Information on http/: www. barrett. com/robot.

[7] I. Staretu, M. Ionescu and V. Runcan, Family of Mechanical Anthropomorphic Poly-Mobile Grippers for Robots – Synthesis, Analysis, Design and Functional Simulation, In: Proc. of The 15th International Workshop on Robotics in Alpe- Adria- Danube Region-RAAD, Balatonfured, Hungary, June 15-17(2006).

DOI: 10.1109/raad.2010.5524610

[8] S. Jitariu, . Staretu Reconfigurable Anthropomorphic Gripper with Three Fingers: Synthesis, Analysis and Simulation, Applied Mechanics and Materials Vol 762 (2015) 75-82.

DOI: 10.4028/

[9] I. Staretu, Class of anthropomorphic modular reconfigurable grippers with three or four fingers for robots -design and prototype, Rev. Roum. Sci. Techn. − Méc. Appl., Tome 56, Nº 2(2011) 127-140.

[10] M.Z. Luo, Research on Shape Self-adapting Robot Hand for Intra-vehicular Service Robot, A Ph.D. Dissertation of University of Science and Technology of China, China, (2004).

[11] T. Laliberte, L. Birglen, M.C. Gosselin, Underactuation in robotic grasping hands, Machine Intelligence and Robotic Control 4 (3)(2002) 1–11.

DOI: 10.1007/978-3-540-77459-4_6

[12] Luo, M., G. Carbone, M. Ceccarelli and X. Zhao, Analysis and design for changing finger posture in a robotic hand, Mechanism and Machine Theory 45(2010) 828-843.

DOI: 10.1016/j.mechmachtheory.2009.10.014

[13] I. Daj, I. Staretu, Mechanisms and Machine Elements (in Romanian), Lux Libris P. H., Brasov, Romania, (2000).

[14] I. Staretu et al., Mechanical Hand. Anthropomorphic Gripping Mechanism for prostheses and robots (in Romanian), Lux Libris P. H., Brasov, Romania, (2001).

[15] I. Staretu, Gripping Systems, Derc Publishing House, Tewksbury, Massachusetts, U.S.A., (2011).

[16] CATIA 5 software, Reference Manual, (2012).

In order to see related information, you need to Login.