Robotic Grasp Prehension

Studies on robotic grasp prehension are increasingly becoming demanding as well as challenging technologically. In modern manufacturing, robots are being planned for extensive usage with so-called intelligent grasp – mainly aiding slight adjustment in grasp performance beyond the scope of robot programming. The robotic gripper system, often sensor-instrumented, must be accompanied by a suitable compliant device in order to achieve a perfect form and force closure of the grasp. We here highlight on the detailed design of six varieties of compliant robotic wrists that are planned to be interfaced with three types of sensor-instrumented industrial robotic grippers. While one of the gripper systems is fully functionalized for grasping industry-grade payloads up to 2.5 kg, the other two designs are conceptualized as soft type and multi-finger-type, with lesser payloads. The basic principle of operation of the tailor-made compliant wrists is in situ compliance, generated by either actual springs or spring-like elements within a closed volume. The chapter will also bring out customized designs of four different types of semi-compliant truss-type force/torque sensors that are used to assist the wrist–gripper tuple.