Computer model development of the adaptive gripper finger

Computer model development of the adaptive gripper finger

Aleksei V. Orlov, Research Scientist, Peter the Great Saint Petersburg Polytechnic University (SPbPU), Institute of Machinery Materials and Transport (IMMIT), Laboratory of Materials Design and Additive Manufacturing (LMDaAT), 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-0090-0442, Scopus ID: 57189268714, Elibrary ID: 873232

Andery N. Volkov, Doctor of Engineering Sciences, Associate Professor, Professor, SPbPU, IMMIT, Higher School of Automation and Robotics, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., Scopus ID: 56585311600, Elibrary ID: 651594

Eduard M. Farber, Candidate of Engineering Sciences, Engineer, SPbPU, IMMIT, Laboratory of Synthesis of New Materials and Designs (LSNMD), 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0009-0007-8830-9887, Scopus ID: 57219517417, Elibrary ID: 979459

Anatoliy A. Popovich, Doctor of Engineering Sciences, Professor, Professor, Director of Institute, SPbPU, IMMIT, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., Scopus ID: 56670993100, Elibrary ID: 45653

UDC identifier: 004.925.83:621.865.8

EDN: BXANUM

Abstract. The paper presents the results of the computer model developing of the adaptive gripper finger based on the Fin Ray effect. The mathematical model is based on finite element modeling using plane beam-column element. A step-by-step process of developing a mathematical model is described. Stiffness matrices of individual rods in a local coordinate system were compiled, and then the transformation of stiffness matrices for the transition from a local coordinate system to a global one is given. Two cases of the entire system were considered, namely without transverse rods of the finger of the gripper and with transverse rods. For each of the options, a stiffness matrix of the system of rods forming the finger of the gripper was compiled. After developing the mathematical model of the gripper finger, the program code written in Matlab was verified, and the simulation results were verified. To verify the simulation results, a calculation model was built in Ansys APDL and a similar model configured according to the developed model. The calculation results were processed and summarized in graphs. The relative error was calculated for each nodal point. The degree of adequacy of the model was calculated for two calculation options, without transverse rods and with transverse rods.

Key words: adaptive gripper, computer model, result verification

For citation: Orlov, A.V., Volkov, A.N., Farber, E.M. and Popovich, A.A. (2026), "Computer model development of the adaptive gripper finger", Robotics and Technical Cybernetics, vol. 14, no. 1, pp. 5-12, EDN: BXANUM. (in Russian).

Acknowledgements
The research was carried out with the financial support of the Ministry of Science and Higher Education of the Russian Federation (Agreement No. 075-15-2024-562 dated 04/25/2024).

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Received 26.06.2025
Revised 25.08.2025
Accepted 19.11.2025