AUTOMATION & ROBOTICS

Gripper Selection & Design

Engr Haider-e-Karar
Teaching Assistant
Mehran University of Engineering and Technology
Engr Haider-e-Karar

Gripper's Design
Requirements for The design of gripper should satisfy the
following requirements :
1. To match the abilities of the arm and controller.
2. To grasp and hold the object securely.
3. To complete the task.

Different grippers are needed for different applications,

which are of highly varied types. These may be :
. To hold complicated shapes which may be fragile, assembling
parts and fitting them into clamps/fixtures etc. (Once a part is
picked up it must be securely held in such a way that its position
and orientation are as desired).

Tips for Designing a Gripper

Following are some tips for designing a gripper : A. Grippers with
passive fingers :
1. Select the grip choice, based on the task to be performed and
the geometry and characteristics of parts to be grasped (for
example, parts way be fragile, slippery, irregularly spaced, may
require contact forces to be distributed etc.; each needs different
suitable gripper).
2. Consider the local environment, working space, conveyor
position etc. which also influence the design.
3. Determine the number of joint links and their configuration
geometry by the part geometry and task movements.

4. Decide material of construction based on type of duty,

corrosion resistance, or heat resistance required.
5. Select proper type of actuator as follows :
Hydraulic for high forces;
Electric motors for best control;
Pneumatic for less cost and ease etc.

6. Ensure compliance and proper safety sensors for

assembly work and for good part handling.

7. Examine whether the design is serviceable, robust,

economical, and whether it is possible to use less
moving parts.
8. Examine whether it is desirable to incorporate two or
three grippers at the end of arm.

 Grippers with active feedback :

1. Use sensor based robots to handle heavy parts.
2. Use active wrist with passive fingers to handle forces
greater than 1 to 2-5 kg.

Consideration of selection of gripper

1. Actuation selection
i. Mechanical or friction gripping methods
ii. Magnetic grasping
iii. Vacuum actuation

2. Drive Selection
i.
ii.
iii.
iv.

Pneumatic drive systems

Hydraulic drive systems for heavy duty operation
Electrical drive for light duty applications
Speed reduction of mechanical transmission

3. Protection Selection
i.
ii.
iii.
iv.

Heat shield for sensors and actuators

Forced cooling by air or water cooling to take away the heat
Selection of heat resistance material for fingers and components of gripper.
Shield from hazardous chemicals.

4. Process Selection
i.
ii.
iii.
iv.
v.

Accurate processing methods for fingers

Interchangeability standards for the fingers
Ease of assembly of fingers and linkages
Leak prevention for pneumatic / hydraulic actuators
Shape compatible processing methods for fingers.

Force Analysis of Grippers

Mechanism
The primary aim of the gripper mechanism is to convert
input power into required motion and force to grasp and
retain an object.
Following are the two ways of constraining an object in
the gripper :
1. The gripper fingers may enclose the object partly, thereby
constraining its motion. This can be accomplished by
designing the contacting surfaces of the fingers as shown in
Fig.

2. To hold the object between fingers and the object by friction. This
approach demands that the finger must apply a force that must be
adequate to retain the object against gravity, acceleration and any other
force that might arise during holding operation.

Gripping Mechanism consisting of fingers,

linkage frame and a pneumatic cylinder

Gripping Force Pg
Gripping force to retain the part
+ and signs relate to acceleration (downward) and
acceleration (upward)

 Actuating force required to obtain gripping force

(

Pressure needed to operate the piston p

Power Required
Power required to produce air pressure p to operate
gripper

Example

Commonly used gripper (endeffector) mechanisms

Commonly used gripper (end-effector) mechanisms are
described below :
1. linkage actuation :
Opening width and the speed of gripping depends on the
linkage configuration.
Higher gripping force at less actuating force due to linkage.
Many design possibilities using linkages.

Linkage Actuation

Rack-pinion actuation

2. Rack-pinion actuation:
Two pivoted pinions are operated by a rack which is
operated by a hydraulic pneumatic cylinder
Pinions oscillate to move the racks (two).
Two fingers attached to the racks open and close to
grab and release the object.

3. Cam actuation :
A cam attached to a cylinder moves to and fro.
Spring-locked followers move on the cam profile.
The finger pads (attached to the pivoted
lever, connected to the followers) open and
close to release and grab the object.

4. Screw actuation
A threaded block engages with a screw and moves
forward and backward; the fingers attached to levers
connected to the threaded block by a hinged joint, open
and close providing releasing and gripping action.
The screw is rotated by a motor through
reduction box.