Anthropomorphic Modular Reconfigurable Grippers with Three and Four Fingers

In this paper one class of anthropomorphic modular reconfigurable grippers for robots are described , including a prototype. For the first time the stages of synthesis, analysis design and functional simulation are presented. We choice two versions: with three and four 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. 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.