On design of an educational robot

In this paper the description of an educational robot that has been designed and advanced in the Robotic Teaching and Research Laboratory at this university is given. Special emphases are made to describe a new three-pincer end-effector configuration that provides a high degree of versatility with its ability to conform to the shape of the object that it grasps. This design eliminates the need for the "roll" degree of freedom at the wrist joint and requires a very simple control scheme for its applications.