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<p>In a parallel gripper with synchronized two-finger motion, an offset between the centerlines of the gripper and the object often prevents grasping. This study introduces an offset-tolerant parallel gripper (OTPG) capable of achieving stable grasping even under offset conditions. The OTPG employs a rack-and-pinion-based linear differential mechanism to enable independent fingertip motion with a single actuator, thereby achieving mechanical adaptability to offsets. Additionally, a spring-based differential stabilization mechanism is incorporated to suppress any unintended differential motion caused by friction differences between the fingers under no-load conditions, which ensures reliable differential operation. Based on experimental results, the OTPG can maintain high grasping stability even in the presence of offsets and can significantly reduce the transmitted load to the robotic system from 71.7 to 4.8 N, thereby mitigating the risk of system damage.</p>

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Design of Offset-Tolerant Parallel Gripper Using Linear Differential Mechanism

  • 期刊论文

  • 发表日期：

    2026年4月9日

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  • Joon Kang,
  • Hyo-Jong Jeon,
  • Sung-Jae Park,
  • Jae-Bok Song

摘要

In a parallel gripper with synchronized two-finger motion, an offset between the centerlines of the gripper and the object often prevents grasping. This study introduces an offset-tolerant parallel gripper (OTPG) capable of achieving stable grasping even under offset conditions. The OTPG employs a rack-and-pinion-based linear differential mechanism to enable independent fingertip motion with a single actuator, thereby achieving mechanical adaptability to offsets. Additionally, a spring-based differential stabilization mechanism is incorporated to suppress any unintended differential motion caused by friction differences between the fingers under no-load conditions, which ensures reliable differential operation. Based on experimental results, the OTPG can maintain high grasping stability even in the presence of offsets and can significantly reduce the transmitted load to the robotic system from 71.7 to 4.8 N, thereby mitigating the risk of system damage.