A Compact Mechanical Gripper System for Meso-Scale Parts Using a Ball-Roller Joint

Abstract

In this paper, a compact gripper system is designed to pick up meso-scale parts. A mechanical gripping method is chosen with a new type of joint. Based on the kinematics and material mechanics, the gripper motion is analyzed. Finally, a prototype gripper system based on the design and analysis results is fabricated. The motion principle is checked using laser diodes and position sensing detectors.