Anthropomorphic Modular Reconfigurable Gripper with Three Fingers-design and Prototype

In this paper one anthropomorphic modular reconfigurable gripper for robots are described , including a prototype. For the first time the stages of synthesis, analysis design and functional simulation are presented. The structural synthesis of the anthropomorphic grippers for robots can be made regarding the following main criteria: the number of fingers, the number of phalanxes, the relative dimensions of the phalanxes, the relative position of the fingers, the degree of freedom of the gripping mechanism and the characteristic constructive elements used. We choice a version with three identical fingers with three phalanxes on finger. The kinematic synthesis is used to obtain a correct closing of the finger and of the gripping mechanism. The function of position, the function of speeds and the function of acceleration for characteristic points are obtained from the kinematic analysis. The static synthesis solves the problem to obtaining the necessary gripping force on each finger and the total gripping force. The calculation of strength was made in function of the internal forces which act between elements. With the constructive dimensions a 3D model can be obtained using CATIA soft. Some aspects regarding functional CAD and virtual simulations are shown too. For one variant of this type of gripper, with three fingers, the technical documentation is completed and the technical project has all the conditions for practical achievement and a prototype was made. There are two main constructive modules: the support – the palm and the finger. Main technical characteristics of the prototype are indicated.