Development of Two-Way Self-Adaptive Gripper Using Differential Gear

In this paper, a two-way self-adaptive gripper that has adaptability to external disturbance loads during linear opening/closing pinch actions and encompass variety of shapes grasping using single actuator is proposed, unlike the previous robotic grippers capable only shape adaptation. Therefore, both motion parallel situations are enabled by proposed design gripper. Adaptation provided through use differential gear, two outputs which drive tips If facing uneven loads, gear adaptively alters speeds outputs, resulting in different closing tips. Despite asymmetric closing, very stable can be guaranteed for such situation. The even complete intentionally or unintentionally fixing one also adaptation encompassing mode adopting parallel-linkage mechanism, consisting an exoskeleton 6 internal joints with spring element. finger facilitates spread actions, while action carried out adjusting linkage. Based on kinematic analysis modeling gripper, prototype adaptive hardware was developed. Several experiments were performed verify feasibility validity system. shown able grasp objects jammed conditions. addition, perform as pinch, spread, grasp.