Development of a Three-Finger Adaptive Robotic Gripper for Handling Irregular and Complex Objects and its Dynamic Grasp Synthesis

Abstract Conventional two-finger grippers exhibit significant limitations in securely grasping objects with complex geometries and topologies, posing challenges in logistics, bin picking, mechanical assembly, and material handling. This paper presents the design and implementation of a three-finger adaptive grasping mechanism that enhances grasp stability through increased contact area and optimized force distribution. The gripper’s fingers are articulated with six degrees of freedom, enabling dynamic reconfiguration to accommodate a wide range of object shapes. A rigorous grasp synthesis framework was developed within a physics-based simulation environment, employing realistic physical models to evaluate grasp efficacy on irregular geometries. This simulation-generated data serves as a basis for validating grasp planning algorithms and assessing the feasibility of various grasp configurations. Subsequently, empirical validation was conducted through real-world experiments on a robotic platform to demonstrate the robustness and adaptability of the three-finger gripper under operational conditions. Results confirm the better performance of the proposed gripper design in material handling applications, demonstrating enhanced grasp reliability and grasping efficiency of 95% within a 120-degree reconfigurable workspace while effectively handling objects up to 130 mm in diameter. Our research establishes a foundational methodology for simulated grasp synthesis and adaptive planning, providing valuable insights that improve the precision of robotic grasping strategies in practical scenarios. Additionally, this cost-effective three-finger gripper is integrated with object detection sensors, addressing the industry’s need for effective handling solutions for complex geometries in manufacturing environments.