摘要：The paper presents the geometrical model of a robotic gripper with 3 fingers, accomplished by using SolidWorks software, used for grasping cylindrical workpieces of the same length, but with different diameters. Applying an action force to the gripper’s pneumatic cylinder piston, for a certain cylindrical workpiece, the contact forces between the gripper and the workpiece are determined in the SolidWorks Motion module. Also, in the same module, a study by finite element method is accomplished in order to obtain the highest value of von Mises stress that occurs within the gripper’s finger. This value is compared to the yield strength value of finger’s material, for the verification of its structural integrity in operation.
