1.

Pressure gripper: This kind of gripper is used for pieces that can be pressed by the
gripper without being deformed.

2. Coupling gripper: This kind of gripper is used for pieces of big dimensions that cant
be pressed by the gripper.

3. Vacuum gripper: Vacuum grippers are used in the robots for grasping the non
ferrous objects. It uses vacuum cups as the gripping device, which is also commonly known
as suction cups. This type of grippers will provide good handling if the objects are smooth,
flat, and clean. It has only one surface for gripping the objects. Most importantly, it is not
best suitable for handling the objects with pores.

4. Electromagnetic gripper: Magnetic grippers are most commonly used in a robot as

an end effector for grasping the ferrous materials.
1. Linkage Grippers: there is no cam, screw, gear. There is movement only because of
links attached to input and output. There must be perfect design of mechanism such that
input actuators motion is transformed into the gripping action at the output.
Screw-driven Grippers: operated by turning screw, in turn giving motion to connecting
links and thus giving griping motion to output. Screw motion can be controlled by motor
attached

The Design:
The base
The base will be the centre of connections of every pieces of the robots gripper. To the base will be
attached two gears of which one of them will be connected through one connection piece to the
other servomotor that provides movement to the gears. These gears will be joined to the grippers
and will give movement to them.
Right Gear:
Left Gear:
Gripper Junction:
Gripper:
Final Assembly: