A flexible lightweight gripper for an educational robot is described.It employs four self-aligning baldes which provide four points of contact for holding an object and are able to adapt to the shape of objects being held.Its capability in holding various object shapes and sizes is presented; this includes circular,rectangular and polygonal sections,and spherical,conical and pyramidal shapes.The relationship between the angle formed by the self-aligning blades and the different weights of objects held,and analysis of frictional grasping under static and dynamic conditions are also presented.
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