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Grasping in unstructured environments is one of the most challenging issues currently facing robotics. The inherent uncertainty about the properties of the target object and its surroundings makes the use of robot hands, which typically involve complex hands, require elaborate sensor suites, and are difficult to control. For this purpose, in this paper combining the kinematic structure of a three and two links finger for design and fabrication of robotic gripper will be evaluated. At first, the challenges associated with grasping by careful mechanical design of gripper was analyzed. Then, will be described the design and fabrication of a sample gripper with combining a three-links finger similar to the human index finger and a two-links finger similar to the thumb. In the following, the performance of this hand for grasping various objects will be examined. The results show that with two fingers and simple design, without require to the complex control can grasp various objects successfully. Also the results demonstrate that compared with the previous researches and by proximity to the kinematic structure of the human hand fingers, by combining two with three link fingers this gripper will have a better performance than the previous symmetric gripper for successful grasping large objects.

Keywords: Gripper, Mechanical Compliance, Under-Actuated, Unstructured Environments

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