Concentric Rotation Pin Array Gripper for Universal Grasp

Advanced service robots and flexible production lines demand more versatile grippers than conventional ones. The traditional industrial gripper with two set of pin arrays fails to grasp some objects. This paper presented a novel universal gripper with concentric rotation pin array, CRPA gripper. It is capable of grasping various objects with only one actuator, which drives two sets of multiple concentric rings rotate at opposite directions. Analytical model of force transmission is built. Simulation results verify the feasibility of the gripper design. A functional prototype validates the predicted performance.