3 axis SCARA robot with universal gripper

The paper describes the design of pick and place 3-axis SCARA robot with a compact universal gripper. Pick and place an object is the predominant job of the robotic manipulators in the industry. The challenging task in designing such manipulators is to develop a universal gripping mechanism, which should possess the ability to pick unfamiliar objects irrespective of its shape within the given size range. The most commonly used technique to accomplish such challenge is multi-fingered approach, but it increases the complexities on both hardware and software for smaller objects. The gripping mechanism discussed in this paper uses the concept of granular jamming. The gripper consists of single mass of granules which conforms to the shape of the target objects when pressed onto it. On evacuating the air, granules contracts and hardens quickly to hold the object. This approach of gripping mechanism does not require any sensory feedback to pick an object.