Experimental validation of a plier with two retractable fingers = Validación experimental de una pinza de dos dedos retráctiles Articles uri icon

published in

publication date

  • February 2016

start page

  • 34

end page

  • 41


  • 1


  • 91

International Standard Serial Number (ISSN)

  • 0012-7361

Electronic International Standard Serial Number (EISSN)

  • 1989-1490


  • This paper presents analytical, numerical, and experimental testing models for designing and validating the feasibility of a gripper with two retractable fingers. The proposed gripper is specifically developed for grasping and manipulating objects that should be kept into restricted areas such as explosives, radioactive/ionized materials, and infected biological material specimens. The proposed gripper fingers can be retracted to pass through openings or slots and, once inside the restricted area, can be deployed in order to manipulate the objects without risk for the human operators.

    Analytical and numerical simulations are used to properly design and build a gripper prototype. Then, experimental tests are carried out to grasp objects of different sizes ranging from 5 to 10 mm. The obtained results are used to validate the gripper"s performance in terms of successful grasp and suitable accelerations and grasp forces.


  • Mechanical Engineering


  • robotics; two-finger gripper; experimental validation; gripping forcé; robótica; pinzas de dos dedos; validación experimental; fuerza de agarre