Novel Single DOF Gripper

grabcad

This is a novel gripper that I conceived a couple of years ago. It has a single motor at the top which rotates the crank of the four bar mechanism. The fingers of the grippers are connected by bent rods. One loop of base, finger, rod, finger and base correspond to a R-C-C-R mechanism (Revolute-Cylindrial-Cylindrical-Mechanism). More info in my conference paper at http://www.nacomm09.ammindia.org/NaCoMM-2009/nacomm09_final_pap/ASM/ASMRL28.pdf It was earlier modeled in Autodesk Inventor. Now, I have imported it in SpaceClaim and performed motion simulation on it using SC-Motion (http://www.ar-cad.com/sc-motion/index.html)