Study of 3-jaw gripper architectures

The growing use of robots in automated industrial processes involves the development of the solutions adopted for grasping objects. These devices or grippers are used for handling components and products that can have different shapes, materials and dimensions. Current demand for more cost-effective and flexible industrial processes requires smart grippers able to perform a variety of functions. In this paper we present a comparison of different architecture solutions for an industrial gripper with specific features. Using a 3-Jaw gripper model, we consider two different ways to grasp the object. In particular we introduce all requirements of the gripper, the process design for reaching the tar-get of the project using a modular approach and the possible architectures of gripper.