In the scope of Master's thesis, we designed a two-finger tweezer-type robotic gripper, which can be used for manipulating a variety of objects. In our case, objects are randomly placed in a box. Due to overlapping, we focused on the problem of grasping the workpiece away from its centre of gravity, which can result in the rotation and the grasped object falling out of the gripper. In order to prevent this unwanted phenomenon, we developed a gripper with rotating flange plates which allow rotation without losing grip between the object and the gripper fingers. The gripper consists of as many standard parts as possible. With suitable analytical design procedures and methods, we picked standard elements that match the requirements of a gripper. Using the finite element method, we performed a structural analysis of the finger.
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