Robotic gripper for industrial manipulation applications
Ravi Tej, Kode (2026)
Diplomityö
2026
School of Energy Systems, Konetekniikka
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe20260704109692
https://urn.fi/URN:NBN:fi-fe20260704109692
Tiivistelmä
In light of improving efficiencies, precision, and productivity, industrial automation is a key area of focus in the design of contemporary production systems. Automated material handling systems rely on robotic gripping for the assured manipulation, selection, assembly, and packing of components. This study describes a design and development of a novel three-finger, servo-actuated robotic picker for the controlled grasping of small to medium sized components. This study aims to develop a robotic gripper that is compact, lightweight, and cost effective for use in automated manufacturing and robotic handling systems.
The proposed robotic picker was designed using SolidWorks CAD software, where individual components including the top support plate, bottom grip plate, rotary transmission plate, servo horn adapter, support pins, structural support members, and gripping jaws were modelled and assembled. The central design component is a servo motor that translates rotational movement into simultaneous movement of three fingers via a rotary actuation mechanism. A three-finger design enhances gripping stability and optimally distributes gripping forces compared to a two-finger gripper.
The design phase consisted of a series of steps from the initial idea to component modeling, to assembly, to verification of assembly free of interference, to motion simulation. Rigid structures, light-weight structures, and structures that are easy to assemble were prioritized. The modular design permits the replacement of single components and future changes to the entire design. The mechanism assembled indicates simultaneous movement of three fingers with superior gripping performance to accommodate a variety of object shapes.
The results suggest the designed robotic picker is suitable for low-cost robotic handling. The design results in compact, small, and simple mechanisms of efficient force transmission and easy assembly. The design is suitable for use within automated production systems and laboratory, educational, and industrial robotics. Future work is likely to include further analysis of the design and the addition of sensors with a ready to use prototype.
The proposed robotic picker was designed using SolidWorks CAD software, where individual components including the top support plate, bottom grip plate, rotary transmission plate, servo horn adapter, support pins, structural support members, and gripping jaws were modelled and assembled. The central design component is a servo motor that translates rotational movement into simultaneous movement of three fingers via a rotary actuation mechanism. A three-finger design enhances gripping stability and optimally distributes gripping forces compared to a two-finger gripper.
The design phase consisted of a series of steps from the initial idea to component modeling, to assembly, to verification of assembly free of interference, to motion simulation. Rigid structures, light-weight structures, and structures that are easy to assemble were prioritized. The modular design permits the replacement of single components and future changes to the entire design. The mechanism assembled indicates simultaneous movement of three fingers with superior gripping performance to accommodate a variety of object shapes.
The results suggest the designed robotic picker is suitable for low-cost robotic handling. The design results in compact, small, and simple mechanisms of efficient force transmission and easy assembly. The design is suitable for use within automated production systems and laboratory, educational, and industrial robotics. Future work is likely to include further analysis of the design and the addition of sensors with a ready to use prototype.