A concentric robot gripper with one-degree-of-freedom for cylindrical workpieces

The authors present a novel design for a one-degree-of-freedom, mechanical, robot end-effector for cylindrical workpieces. The mechanism is based on the motion characteristic of a parallelogram four-bar linkage and the geometric relationship that chords of concentric circles at a central angle are parallel. The gripper is simple in structure, easy to manufacture, and convenient to use. It has the capability to grip a wide range of part sizes and can achieve high accuracy