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The aim is to design and analyze a gripper that enhances the efficiency and safety of robotic pick-and-place tasks with irregularly shaped objects.

February 5, 2026MachinesOpen Access

Design and Analysis of an Under-Actuated Adaptive Mechanical Gripper

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The aim is to design and analyze a gripper that enhances the efficiency and safety of robotic pick-and-place tasks with irregularly shaped objects.
Designed an adaptive under-actuated gripper using rope control.
Conducted mathematical analysis to evaluate gripper characteristics.
Performed holding force experiments with various testing objects.
Tested grasping success rates using coal lumps and ores.
Achieved a 100% grasping success rate with loads up to four times the object's weight.
Demonstrated greater holding force with larger objects under constant air pressure.
Proved reliable grasping of irregular shapes during high-speed tasks.
Exhibited passive anti-collision ability from the gripper's design.

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This research develops an adaptive gripper enhancing grasping ability in irregularly shaped objects, indicating improved operational efficiency.

Wei et al. (2026) studied this question.

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This research develops an adaptive gripper enhancing grasping ability in irregularly shaped objects, indicating improved operational efficiency.