Design and development of a microgripper for use in pipeline inspection robot

A microgripper has been designed here. The 12V D.C. Servomotor and Radial Cam-Knife edge follower mechanism carry out actuation. Two jaws are being deployed, out of which one is fixed, and another is movable. The fixed Jaw has straight fingers, while the movable Jaw hinged with the base carries a pivoted knife edge follower and curved fingers.