Biomimetic Approach for Design of Multifingered Robotic Gripper (MRG) & Its Analysis for Effective Dexterous Grasping

A human hand can handle various objects by fingers, with better adaptive capacity and precision. Although there have been an enormous number of studies on robot hands trying to reproduce such adaptive and handy operation, performance is still not as per the real world's expectations. The industrial developments for automated operations by using robots are undeniably expecting an independent grasping action, for all types of materials / object. Existing sensory feedback can help to work out some of the final required operating parameters, but still their performance limitations are non-reliable. Hence, sophisticated gripping, mimicking the human grasping action is a need of robot industries to make autonomous material handling. Biomimetic approach is adopted for the gripper design in this work because available literature review emphasizes that a stable grasp can only be achieved with multi-fingered grippers. This work provides information on design of Multifingered Robot Gripper (MRG) with biomimetic approach. Its kinematics design analysis, Finite element analysis of critical parts and mode shape analysis of complete gripper system offers confirmative results for its effective grasping. Thus presented MRG system developed by this study elaborates various aspects of design while developing the universal dexterous grasping system.