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Checklists and Templates for Selecting Robotic Grippers and Dexterous Hands

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A systematic approach to choosing a robotic gripper or dexterous hand should begin with a clearly defined application profile rather than a preference for a specific mechanism. Engineers are advised to document task requirements, operating environment, and object characteristics such as size, mass, friction, and fragility, since these shape the required grasping strategy. Choices among parallel-jaw, multifinger, and other end-effector types should reflect whether the task truly demands dexterity beyond conventional gripping. Actuation options, including electric, pneumatic, and tendon-driven systems, along with underactuated versus fully actuated designs, are compared on force, accuracy, speed, and complexity. A structured checklist helps teams apply these criteria consistently and record the technical justification behind each decision.

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