Kinematic analysis and synthesis of a novel gripper for dexterous applications

This paper demonstrates kinematic analysis and synthesis of a novel, modular, reconfigurable gripper, which is capable to manipulate plurality of object. The gripper consists of four identical modular fingers, dexterous among all axes. Each modular finger of the gripper is conceived to the aim of satisfying efficient grasping, manipulation and also object release with accordance of desired posture. The proposed gripper has 16 DOFs, which can be reduced by decreasing the number of fingers depending on its target uses. In this paper, the in-hand manipulation capability is explained from kinematic perspective and some analysis carried through to synthesize the gripper for user specific applications.