of a Three Finger Gripper

This thesis work focuses on the three finger gripper. The main aim is to develop a three finger gripper for picking up specific hazardous objects by the gripper and placing it in the desired position.The system is under actuated. Therefore, to develop these three fingered, a solid model is prepared in Solid works.Kinematic analysis is carried out to find position, orientation and joint values of the gripper by forward and inverse kinematic equation. Grasping mechanism is also discussed in the thesis for gripping an object precisely