Kinematic synthesis of industrial robot hand/gripper - a creative design approach

The purpose of this research is to synthesize industrial robot hand mechanisms. Investigations on DOF(F), complexity and the structure (Graph) will be presented. Therefore, a kinematic structure table of robot hand mechanisms can be generated. The advantages of using this reference table are as follows: * Identification of the kinematic structure of robot hand mechanisms for robot hand standardization. * The atlas of graph (structure) can be used to enumerate new robot hand mechanisms. * Leads to creation or invention of new robot hand mechanisms according to the separation of structure and function. This paper will present a creative design approach in designing industrial robot hand /gr ipper mechanisms. This research work was conducted while the author was at Columbia University.