An underactuated gripper design and evaluation with linkage-based system for a front approach

Abstract

This study introduces a novel underactuated front-approach gripper, specifically designed to enhance versatility and efficiency in handling objects with unpredictable or irregular sizes and weights. Unlike conventional side-approach underactuated grippers, our design engages objects from the front, seamlessly conforming to their contours. It employs a linkage-based mechanism in which joints flexibly fold and adjust to the object's shape, initiating contact at the front(fingertip) before adapting for a secure grasp. Instead of motors, tensile springs simplify the mechanical design while improving coordination through interconnected linkages. Furthermore, the transition between grasping and releasing modes requires no extra manipulation, merely an upward or downward movement, based on lever and armrest principles. Through kinematic analysis and extensive testing across various object widths and weights, the design has proven to be a stable and efficient gripping solution.