%0 Journal Article
	%A Annika Schmidt and  Ausama Hadi Ahmed and  Carlo Menon
	%D 2016
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 116, 2016
	%T Towards the Design of Gripper Independent of Substrate Surface Structures
	%U https://publications.waset.org/pdf/10004970
	%V 116
	%X End effectors for robotic systems are becoming more
and more advanced, resulting in a growing variety of gripping tasks.
However, most grippers are application specific. This paper presents
a gripper that interacts with an object’s surface rather than being
dependent on a defined shape or size. For this purpose, ingressive and
astrictive features are combined to achieve the desired gripping
capabilities. The developed prototype is tested on a variety of
surfaces with different hardness and roughness properties. The results
show that the gripping mechanism works on all of the tested surfaces.
The influence of the material properties on the amount of the
supported load is also studied and the efficiency is discussed.
	%P 1369 - 1374