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Design Methodology for the CSM HAN-DS Gripper

[+] Author Affiliations
David B. Streusand, Cameron J. Turner

Colorado School of Mines, Golden, CO

Paper No. DETC2012-70570, pp. 1041-1049; 9 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


This paper describes the application of classical design methodology toward the design of a robotic gripper. This gripper is designed to meet or exceed the mechanical properties of the BarrettHand for a lower cost. The design process followed a classical design process as previously introduced by Streusand and Turner with some modifications due working as an individual rather than as a design team member. This process proved effective in the design of the gripper, though there are some recommendations for improving the method and some improvements need to be made to the current gripper design before it is ready for use.

Copyright © 2012 by ASME



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