Design methodology approach for flexible grippers

This paper presents a design methodology approach for flexible or not flexible gripper systems composed by one or several actuators. This approach takes into account grasped object geometrical parameters and task constraints to compute the 'best' grasping configuration and to determine the mechanism of the gripper. The main goal of this method is to prove an efficient designer aid under economic constraints especially in time aspect, and also to prove quickly the application viability. In this paper, this procedure is detailed and an example is given to illustrate it.