Simulation of Grasping Prismatic Workpieces by a Pneumatically Driven 3-Finger Robotic Gripper

Abstract

The paper presents the 3D model of a robotic gripper and a way to determine the value of prehension force by using the SolidWorks software. A set of prismatic workpieces is considered, the contact force finger-workpiece being determined in SolidWorks Motion module for the most disadvantageous case - the heaviest workpiece, as well as von Mises stress that occurs in fingers gripper.

Keywords

• robotic gripper
• grasping
• solidworks software