Two-finger Multi-DOF Folding Robot Grippers

Maxwell Samuels, Lu Lu, Cong Wang

Research output: Contribution to journalConference articlepeer-review

2 Scopus citations


Two-finger robot grippers are widely used in various applications. Most conventional designs have a single degree of freedom (DOF). Other than open-and-close, they do not offer additional manipulation ability. Meanwhile, multi-finger high-DOF hands face cost and reliability issues. This paper presents three- and four-DOF linkage mechanisms to design robot grippers that can conduct two-finger twisting and rolling. Kinematics of the linkage mechanisms is studied. Tendon drives are designed so that the robot grippers can be used on tubular robots. A folding mechanism is proposed to help the gripper go through small entrances and narrow passages. Measures that help with miniaturization are discussed, providing opportunities in certain applications such as minimally invasive surgeries. Several advanced design concepts are also discussed for increasing the potentials of the robot grippers.

Original languageEnglish (US)
Pages (from-to)76-81
Number of pages6
Issue number27
StatePublished - Sep 1 2022
Event9th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2022 - Los Angeles, United States
Duration: Sep 6 2022Sep 9 2022

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


  • Mechanisms
  • Object Manipulation
  • Robot Grippers
  • Robot Hands
  • Tubular Robots


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