COMPUTER AIDED KINEMATIC SYNTHESIS OF A PARALLEL JAW ROBOTIC GRIPPER.

This paper describes a methodology used to generate a new family of general purpose parallel jaw robotic grippers using computer aided design techniques. The jaws of the new family of grippers produce parallel and rectilinear motion using only revolute joints. The method uniquely combines a technique for synthesizing approximate straight line generators with the construction for a parallel motion linkage. The mechanisms are generated semi-randomly, creating a broad spectrum of potential new gripper designs. The solution mechanisms are summarized in simple graphical format. Assembling these results in atlas form makes evaluation of the large spectrum of potential new designs manageable. Several new gripper designs featuring attractive kinematic, force transmission, controllability, and durability characteristics are expected to result.