DESIGN AND CONTROL OF A NOVEL ROBOTIC GRIPPER MECHANISM

Robotic Gripper or end effectors are designed to interact with the environmentfor the uses in the robotic assembly, lab
automation, mobile robotics, machine tending, medical application etc. Inthe past, several researchers has designed
the different models and technologies for gripping systems but grippers using servomotor for actuation offers a
different set offunctionality and they produce speed andforce for flexibility thanother conventional gripping system.
In this paper a novel gripper design has been proposed using four bar linkage mechanism towards handling objects
minimising the numbers of actuators. A mathematical model for the gripper is developed towards formulating its
transferfunction and the simulations are carried out to find Voltage-displacement behaviour and dynamic stability of
gripper during holding the object. According to the model, a control system is developed and gripping mechanism is
tested. This shows that using four bar linkage the design of gripper is much simple which has less number of joints,
lightweight and simple control systemfor activating the actuators and this can be utilised in handling of lightweight
object in robotic assembly.