Structural Parameter Selection Strategy of Gripper for Enhanced Gripping Force and Jam Resistance

Grippers capable of grasping and releasing under high loads are crucial for robots performing heavy-load tasks. This research introduces an innovative structural parameter selection strategy to develop such a mechanical gripper. This strategy emerges from detailed modeling and analysis of the mechanical gripper. The strategy significantly improves gripping force and anti-jamming ability by analyzing the screw and guide rail's parameters and the impact of gripping speed on the gripping and locking force. With this strategy, we have developed a mechanical gripper with the maximum gripping force of 311.08N and locking force of 755N. We also installed the gripper on a humanoid robot, enabling it to enter a car with one hand and manipulate the steering wheel. The results further assess the effectiveness of the selection strategy.