Design & Development of a Two-jaw parallel Pneumatic Gripper
for Robotic Manipulation

Abstract

The handling of abstract materials and mechanisms to pick and place are widely found in factory automation and industrial manufacturing. There are different mechanical grippers which are based on different motor technologies have been designed and employed in numerous applications. The designed robotic gripper in this paper is a two jaw actuated gripper which is different from the conventional cam and follower gripper in the way that controlled movement of the jaws is done with the help of pneumatic cylinders using air pressure. The force developed in
the cylinder is very gentle and is directly delivered to the jaws in a compact way. The design, analysis and fabrication of the gripper model are explained in details along with the detailed list of all existing pneumatic grippers in market. The force and torque for the gripper have been calculated for different set of conditions. The working of the model is checked for and observation for pay load is recorded at various pressures. The highly dynamic and highly accelerated gripper model can be easily set at
intermediate positions by regulating the pressure. Pneumatic grippers are very easy to handle and are generally cost-effective because air hoses, valves and other pneumatic devices are easy to maintain.