Haokai Ding

A Novel Gripper with Semi-Peaucellier Linkage and Idle-Stroke Mechanism for Linear Pinching and Self-Adaptive Grasping *

This paper introduces a novel robotic gripper, named as the SPD gripper. It features a palm and two mechanically identical and symmetrically arranged fingers, which can be driven independently or by a single motor. The fingertips of the fingers follow a linear motion trajectory, facilitating the gra