Designing and Development of Two Finger Compound Gripper for Internal and External Gripping

This paper provides a review of techniques and technology used in industrial grippers for External and internal gripping purposes. The scope of review is to cover methodologies in compound gripper, multifunctional gripping technologies, concentric gripping and two finger grippers used to pick and place cylindrical objects in industries. Paper also includes innovations made in gripping techniques and suggests improvements using innovative changes in existing grippers.