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Most commonly used tools for handling objects in industrial environment are grippers. They usually represent end-effectors of industrial robots. Two-fingered grippers are the ones that are most commonly used. Design of two different prototypes actuated with electric motor is shown in this paper. Furthermore, the contact force in fingertips is calculated. With that calculation the prehension force of grippers is obtained. All calculations are performed on theoretical level and through simulation.

REALIZACIJE PROTOTIPOVA DVOPRSTIH HVATALJKI AKTUIRANIH ELEKTRIČNIM MOTOROM ZA PRIMENU NA INDUSTRIJSKOM ROBOTU