Abstract
Industrial robots need to change the gripper to handle different objects. Multi-fingered robotic hands have widely developed in imitating human hand mechanism, the existing multi-fingered robotic hands however have many problems such as the weight and the complexity of control. We thus proposed a new underactuated robot gripper capable of retracting motion. Gripping and retracting motion of the robot gripper are achieved by a single motor and a using planetary gear mechanism. In this paper, we present the principle and mechanism of the robot gripper, and verify its effectiveness by experiments.
