A Three-Finger Adaptive Gripper With Finger-Embedded Suction Cups for Enhanced Object Grasping Mechanism

With the growth of logistics automation, there is an increasing demand for advanced grippers. This study presents a gripper that integrates suction cups into the fingertips to overcome the limitations of traditional robotic gripping methods. Designed with a 5-degree-of-freedom structure, the gripper allows for angle adjustment of the suction cups, facilitating effective grasping in various environments. Its adaptive grasping mechanism simplifies control by using the fingertips and distal phalanxes to cage objects without manually controlling them. The versatility of the gripper was tested by performing hybrid finger-suction gripping, as well as conventional finger and suction gripping. These advanced gripping strategies are designed to enhance flexibility and efficiency in logistics automation when handling a diverse range of objects.