Variable-Grasping-Mode Gripper With Different Finger Structures For Grasping Small-Sized Items

This letter presents a novel small gripper capable of grasping various types small-sized items from flat surfaces for the assembly devices. Using single actuator, proposed realizes two modes: parallel-grip and turn-over modes. The gripper's mode can be switched via contact with surface, such as table. Handling thin thicknesses light weights are key challenges faced in attempts to grasp items. Although parallel grippers effective handling items, there is limit thinness objects that grasped by grippers. Accordingly, was adopted exceeded this threshold. In mode, one finger lifts item, while another holds item above keep it flicking out. picking up several table, including (0.05 mm) lightweight (0.007 g)