• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.22-27
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• 2012

This paper presents a ball screw-driven robotic gripper mechanism which is possible to grasp an object and analyzes its kinematic feature for grasping by simulation. For the purpose of identifying the feature of the robot gripper, we try to confirm the kinematics relating the joint space of the driving actuator to the gripper's tip space. To be specific, the proposed robot gripper employs one actuator and a symmetrical closed-chain structure. As a result, the specified robot gripper has an advantage of robustness to external forces structurally, and it is easy to implement simple grasping operations. Also the gripper has a useful squeezing effect for power grasping.