Design and Development of a Prototype Robotic Gripper

TL;DR

This paper details the design and fabrication of a robotic gripper with linear and rotational motions, controlled by a stepper motor, aimed at industrial handling of small objects, including kinematic analysis for optimal component selection.

Contribution

It introduces a novel design and fabrication process for a robotic gripper with specific motion capabilities, supported by kinematic analysis for precise control.

Findings

Successful development of a two-degree-of-freedom robotic gripper

Kinematic analysis improved motor and actuator selection

Prototype demonstrates effective handling of small objects

Abstract

Robotic grippers are widely used in industries for handling objects. This paper presents the procedure of design and fabrication of a stepper motor controlled robotic gripper to be used in industries for handling small objects. The gripper has one degree of freedom for linear motion and one degree of freedom for rotational motion. A linear actuator has been employed to give translational motion to the gripper. Based on the design requirement data, a kinematic analysis has been done to accurately predict the design parameters useful in proper selection of motor and linear actuator.