A Method for Generating Gripper Mechanisms Using Baranov Chains

This paper presents a new method to generate robot grippers using Baranov chains. First, the concept of Baranov chains is introduced. Later, a brief review of mobility is presented, discussing the effect of the removal of links on the mobility of kinematic chains. Then, the method of generating grippers using Baranov chains is introduced, discussing the removal of links and the mobility of the resulting kinematic chain, the selection of the links for removal and the interaction of the gripper with objects. Finally, the proposed method is then used to design new grippers.