Theoretical and Kinematic Solution of High Reconfigurable Grasping for Industrial Manufacturing

High flexibility and high speed is the goal for industrial manufacturing. However, it is difficult to put them together due to the reason that they are contradicting with each other. The authors face this production process problem and presented a new high reconfigurable gripper. It has two degrees of freedom per finger and can support enough payload for manufacturing applications. At same time the simple kinematics permits to be fast. Moreover, not only it is able to handle different workpiece, but the same design concept, can be applied to different scenarios. In this paper the authors motivate and detail all the principals and the concepts used for define and design this gripper. The physical models are shown as proof of this successful project.