Robotgripare

Robotgripare denotes a class of robotic grippers designed for versatile, reliable grasping of a wide range of objects and tasks. The term covers modular systems that combine adaptable fingertips with compliant actuation to handle items from delicate fruits to rigid components.

These systems use modular finger modules that can be swapped or reconfigured. Actuation is commonly pneumatic, hydraulic, or electric, enabling soft or rigid contact. Some designs employ soft robotics for gentle handling, while others use rigid fingers with tactile sensors. Grasp modes include enveloping, pinch, and suction-assisted grips.

Integrated sensors measure contact force, slip, and sometimes temperature. Tactile arrays and force sensors support safe, stable grasping and controlled release. Control architectures range from simple position and force control to impedance or hybrid force-position control. Vision and AI-based grasp planning are used to select strategies from object appearance.

Applications include logistics for bin picking and packing, manufacturing for part handling, agricultural harvesting, and service robotics. They enable autonomous manipulation of objects with varying geometries while minimizing damage to fragile items.

Advantages include modularity and adaptability that reduce tooling changes and downtime, and the ability to handle diverse objects with existing robot arms. Limitations include higher complexity and cost, calibration requirements, and sensitivity to debris or variable payloads.

Development and outlook: Ongoing research focuses on improving tactile feedback, machine learning-based grasp planning, and the integration of soft and rigid actuation to expand capability while maintaining robustness.