Design and Analysis of a Spring-supported Parallel Two-Jaw Gripper

Abstract

This paper presents the design and analysis of a novel parallel two-jaw gripper equipped with spring mechanisms to enhance its gripping capability. This gripper employs a rack and pinion mechanism consisting of two racks and a pinion gear. Two compressive springs attached to each end of the rack enhance the grasping actuation by providing supportive force. This integration of the rack-and-pinion mechanism with spring mechanisms enables the design to surpass the limitations of conventional grasping systems. It offers several advantages including reduced torque requirements, increased handling ca- pacity, enhanced operational safety, and improved reliability. Furthermore, the gripper design prioritizes simplicity and ease of fabrication to facilitate practical deployment and mainte- nance. Comprehensive modelling and evaluation of the gripper are conducted through simulations and analytical calculations, highlighting its effectiveness and power efficiency in automated handling systems.