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SOME ASPECTS OF MULTI FINGERED GRIPPER

Conference Paper · October 2015

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 SOME ASPECTS OF MULTI FINGERED GRIPPER

Abdullah Junaid khan

Dept. of Mechanical Engineering Dept. of Mechanical Engineering
Jamia Millia Islamia Jamia Millia Islamia
New Delhi, India New Delhi, India

Aabhas Bhaskar Sharma

Dept. of Mechanical Engineering
Jamia Millia Islamia
New Delhi, India.

ABSTRACT

A robot gripper is a device, which facilitate the interaction of robot with the environment around it. Gripper is a device,
which is used to hold the object, and for that purpose various type of robot gripper are available. A stable grasp can
only be achieved with multi-fingered grippers. In this paper we are going to discuss about Multi-fingered gripper,
Robotics industry and development of Multi-finger robot in India, Gripper Analysis and its advantages and
disadvantages.

Keywords: Multi-fingered gripper, Degree of freedom, Joints

1. INTRODUCTION: With the boom in the manufacturing sector,

the robotics industry is gearing up for sharp growth in
The robot gripper or end of arm tooling is the bridge the non-governmental private sector too. At India’s
between the robot arm and the environment around it. biggest auto manufacturer, Tata Motors, the employee
Depending on the task, the action of the gripper varies. strength has come down by 20 percent, while the
What is an ideal gripper? Should it be like a human company’s turnover has increased 2 1/2 times.
hand with finger that has 36 degrees of freedom? The With robots being used for material handling,
most striking thing about the human hand is that it can it is at the forefront of automation in the leather
adapt to the task, as it is a sensory and communicating industry. Sale of industrial robots is gathering pace in
organ. Robotic end effector which is attached to the India as automobile companies expand their operations
wrist of the robot arm is a device that enables the in the country Like BMW, Ford, Maruti Suzuki,
general purpose robot to grip materials, part and tools Honda, Tata Motors , ACC are using industrial robot in
to perform specific task. There are various types of end their shop floor for different purposes like maintenance
effectors depending on type of work to be performing. assembling production packing and handling etc.
Robot multi-finger gripper is a type of end of arm For private companies, robotics is not just about
tooling (EOAT) used to move parts from one location saving labour. The technology also helps companies
to another. They can be driven hydraulically, significantly step up productivity and quality, to meet
electrically and pneumatically. the demands of international competition..
.

2. ROBOTICS INDUSTRY IN INDIA: 3. TYPES OF MULTIFINGER GRIPPERS:

Indian’s former Prime Minister Manmohan Singh End effectors of a robot can be designed to have
announced a new initiative in robotics. And the several fingers joints and degrees of freedom. Any
country’s top government scientists are at work on combination of these factors gives different grasping
robot and artificial intelligence (AI) technologies for modalities to the end effectors. The general gripper can
use in everything from border patrols to the fielding of be grouped according to the type of grasping
“robot armies” to replace human soldiers in future modalities as follow:
wars. The Indian Space Research Council is also  Mechanical fingers
planning to send a robot to the moon to bring back  Multiple gripper
samples.
  External gripper
 Internal gripper
3.1 Mechanical finger are used to perform some
special tasks. Gripping by mechanical type fingers is
less versatile less dexterous than holding by universal
fingers as the grippers with mechanical fingers have
fewer number of joints and lesser flexibility.

3.2 The Internal Gripper is another type of end

effectors classification based of the mode of gripping.
The internal gripper shown in the figure grips the
internal surfaces of the objects with open fingers. The
figure shows how the object is gripped. In case of
internal gripper the jaws are extended outside so that it
grips the object by extending outwardly. Figure 2: External Gripper

3.3 The external gripper is shown in the figure below 3.4 Multi gripper system or multiple grippers shown
shows how the object is gripped from outside. In this in the figure enable effective simultaneous execution of
case gripper grips the external surface of objects with more than two different jobs. Design methods for each
closed fingers. This type of gripper is used generally individual gripper in the multi-gripper system are
where the object is big and it results in effective subjected to those of the single grippers.
gripping of the object.
3.5 Multi-Fingered Grippers come under the
category of mechanical grippers & enable effective
simultaneous execution of more than two different
jobs.
The need for multi fingered gripper is due to two main
reasons:-
a) to accomplish the grasping of objects of
different shapes and sizes
b) to enable the end effectors to grasp more than
one object at a time

Figure 1: Internal Gripper

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 4. DEGREE OF FREEDOM OF MULTIFINGER
GRIPPERS:

The degree of freedom (DOF) is a very important term

to understand. Each DOF is a joint on the arm, a place
where it can bend or rotate or translate. You can
typically identify the number of DOF by the number of
actuators on the robot arm. While building a multi-
finger robotic arm, we want as few DOF allowed for
the applications because each DOF requires a motor
(encoder) and exponentially complicated algorithms
and costs. Also between each DOF, there is a linkage
of some particular length.
Figure 3:Multiple Gripper Sometimes a joint can have multiple DOF in the same
location. An example would be human shoulder. The
shoulder actually has three coincident DOF. Also note
that a DOF has its limitations known as the
configuration space.Not all the joints can swivel 360
degrees, because of wire wrapping, actuator
capabilities etc.

5. MULTIFINGER GRIPPER DEVELOPED IN

INDIA :

1. Gripper Finger of the Belgrade Hand: A five-

fingered hand modelled on the natural hand in it locked
Servo Gripper motion of the inner (proximal) finger joints, the outer
joints continue to close thus achieving complete
enclosure of the object.

Figure4: Multi fingered gripper

Belgrade Hand

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2. Skinner Hand Gripper: This hand is a good extrusions, clamping down and trapping the item
example for a 3-finger design which enables, the between them.
embracing pretension, the spread (internal) pretension,
and the two-finger tip pretension. Each finger 6.2. Air hand
possesses three joints and in addition can be rotated in It works like placing an un-inflated balloon in a cup,
the phalanx base. A total of 4 electric motors are then inflating the balloon until it expands and is tight
employed as prime movers. against the surface of the cup.

6.3 Vacuum
It employs the use of suction cups to force the object to
stick to it. This design requires significantly less
power.

ADVANTAGES
1. Multi-finger gripper generally reduces the
Skinner Hand Gripper effort and time needed.

3. Okada Hand Gripper: Three-fingered hand 2. The accuracy and effectiveness is high.
developed by a Japanese & Indian research laboratory
possessing 11 joint angle degrees of freedom. The 3. Best suitable for repetitive type of jobs.
finger positions are reassigned and stored in electronic
memory. Intermediate positions are linearly
interpolated. DISADVANTAGES
1. Their effectiveness depends on the
effectiveness of the drives.

2. For each DOF, separate motor and wiring is

needed.

3. Particular grippers can be used for particular

type of jobs only.

4. The drives of gripper make them a safety

Okada Hand Gripper threat to the humans.

6. GRIPPERS ANALYSIS:

There are three basic types of grippers according to

how their respective grips are made:
1. Clamp
2. Air hand
2. Vacuum

6.1 Clamp
It acts like a human hand, in that the item to be gripped
or manipulated is placed between two contracting

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 REFERENCES

1. S.R.Deb; Robot Technology and

Flexible automation; Tata McGrill;
1987 and volume; Page Number 457
and 1987.

2. Kawasaki H., Shimowra H., Shimizu,

Y, Educational-Industrial complex,
Development of Anthropomorphic
Robot hand ‘Gifu hand’ , Adv.
Robotics, Vol. 15

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