ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)

vol 64 / January, 2021

DOI 10.17586/0021-3454-2020-63-5-467-475

UDC 621.01, 621.837.3

Algorithm of Structural-Parametric Synthesis of Adaptive Gripper Mechanisms with Varia-ble-Length Links

I. I. Borisov
ITMO University, Faculty of Control Systems and Robotics; Assis-tant;

R. A. Zashchitin
ITMO University, Faculty of Control Systems and Robotics; Engineer;

O. V. Borisova
ITMO University, Faculty of Control Systems and Robotics; Engineer;

S. A. Kolyubin
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor

Read the full article 

Abstract. An algorithm is proposed for the structural and parametric synthesis of finger mechanisms of universal gripping devices that can solve problems of reliable manipulation of objects of arbitrary shape under external static contact influences and the use of relatively simple position and speed controllers. The required performance characteristics are achieved due to the mechanical decomposition of the control channels, in particular due to introduction of active or passive units of variable length into the robot design. The algorithm can be used to synthesize the mechanisms of both industrial gripping devices and anthropomorphic hand prostheses.
Keywords: synthesis of mechanisms, variable-length links, gripping devices, structural synthesis, adaptivity



  1. Flexible joint robots: Model-based control revisited.Opening Ceremonies for the Munich School of Robotics and Machine Intelligence (MSRM) at TUM. Munich, October 26, 2018, http: //
  2. Groothuis S.S., Folkertsma G.A., Stramigioli S. Front. Robot. AI 5. 2018, vol. 108.
  3. Beschi M. et al. Robotics and Computer-Integrated Manufacturing, 2017, vol. 46, рр. 38–47.
  4. Hogan N. IEEE 1984 American Control Conference, 1984, рр. 304–313.
  5. Rothling F. et al. IEEE 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, рр. 2951–2956.
  6. Bicchi A. IEEE Transactions on Robotics and Automation, 2000, no. 6(16), pp. 652–662.
  7. Laliberte T., Birglen L., Gosselin C. Machine Intelligence & Robotic Control, 2002, no. 3(4), pp. 1–11.
  8. Kragten G.A. et al. IEEE Transactions on Robotics, 2011, no. 6(27), pp. 1056–1066.
  9. Demers L.-A.A., Gosselin C. 2009 IEEE International Conference on Robotics and Automation, 2009, рр. 2086–2091.
  10. Ward-Cherrier B., Cramphorn L., Lepora N.F. IEEE Robotics and Automation Letters, 2016, no. 1(1), pp. 169–175.
  11. Feix T. et al. IEEE Transactions on Human-Machine Systems, 2015, no. 1(46), pp. 66–77.
  12. Borisov I.I. Dinamika mekhanicheskikh sterzhnevykh sistem so zven'yami peremennoy dliny primenitel'no k endo- i ekzoskeletam (Dynamics of Mechanical Core Systems with Variable-Length Units as Applied to Endo- and Exoskeletons), Doctor’s thesis, Smolensk, 2018, 324 p. (in Russ.)
  13. Borisov I.I.Russian Engineering Research, 2019, nо. 11, рр. 55–62. (in Russ.)
  14. Borisov I.I. et al. 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), 2018, рр. 726–731.