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Vol. 87, Issue 1, January 2008, pp.63-73




Design and Development of a Multi-Degree of Freedom Dextrous Instrumented Robot Gripper


Sagarika PAL, Subrata CHATTOPADHYAY and *Satya Ranjan DEB

Department of Electrical Engineering, National Institute of Technical Teachers’ Training and Research, Kolkata [Under MHRD, Govt. of India],

Block-FC, Sector-III, Salt Lake City, Kolkata-700 106, India

*Gurunanak Institute of Technology;

157/F Nilganj Road, Panihati, Dist. 24 PGS(N), Pin – 743 176, India

E-mail: spal922@yahoo.co.in, subrata0507@sify.com



Received: 29 October 2007   /Accepted: 21 January 2008   /Published: 28 January 2008


Abstract: The key element of robot is its gripper system, which can accommodate a variety of work pieces. Two finger grippers sometimes of lever type, cam type, gear type or mixed type are very common for many industrial applications. The present paper aims at the design and development of a four-fingered dextrous gripper with suitable electrical actuator system for transferring and transmitting flexural motions of the articulated fingers with suitable mechanical structures and tendons. Various hardware elements have been designed, constructed and evaluated for the dextrous hand. Each finger is having distal, proximal and metacarpophalangeal joints having three degrees of freedom so as to open and close with different postures for manipulating the objects with electric tendon actuation system. As a first step towards achieving pretension, optimal flexibility, high performance and well-behaved characteristics of the gripper, a multiple degree-of-freedom dextrous hand has been designed, constructed and evaluated. Various tactile and non-tactile sensors have been designed and mounted on the fingers with necessary control. During the execution of tasks, slip sensors provide information for grasping and manipulating the objects with certainty. The force sensors provide the magnitude of optimum force during grasping without slip. Thus the prototype gripper has been found to be capable of grasping the objects of different shapes with an optimal force.


Keywords: Dextrous, Tendon, Degrees of Freedom, Force Sensor, PID-Control, Slip Sensor


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