Kinematic Design & Analysis of a Three Finger Gripper

Author(s):

Archita Singh; Vivek Chawla

Published in:

HCTL Open International Journal of Technology Innovations and Research (IJTIR), e-ISSN: 2321-1814

Published on:

31-July-2015

Volume:

July 31, 2015, ISBN:978-1-943730-43-8.

Copyright Information:

© 2015 by the Authors; Licensed by HCTL Open, India.

License Information:

This article is an open-access article distributed under the terms and conditions of the Creative Commons Attribution 4.0 International License.

Abstract

This thesis work focuses on the three finger gripper. The main aim is to develop a three finger gripper for picking up specific hazardous objects by the gripper and placing it in the desired position.The system is under actuated. Therefore, to develop these three fingered, a solid model is prepared in Solid works.Kinematic analysis is carried out to find position, orientation and joint values of the gripper by forward and inverse kinematic equation. Grasping mechanism is also discussed in the thesis for gripping an object precisely.


Keywords

Gripper; Solid works, Ansys, Roboanalyzer

Cite this Article

Archita Singh; Vivek Chawla, Kinematic Design & Analysis of a Three Finger Gripper, HCTL Open International Journal of Technology Innovations and Research (IJTIR), Volume 16, July 2015, e-ISSN: 2321-1814, ISBN: 978-1-943730-43-8.

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