Underactuated 3-finger robotic gripper for grasping fabrics

  title={Underactuated 3-finger robotic gripper for grasping fabrics},
  author={Panagiotis N. Koustoumpardis and Kostas X. Nastos and Nikos A. Aspragathos},
  journal={2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)},
In apparel industries, the handling of fabrics still remains a manual work and its automation is a real challenge. In this paper, a three finger gripper is developed for grasping (pinching and clamping) fabrics under different ways. It is inspired by the human fingers movements in order to grasp a piece of fabric that is laid on a table. The conceptualization, the design and the prototype of the gripper are presented, along with the kinematic and static analysis of its mechanism. The proposed… CONTINUE READING