This paper proposes an underactuated grippers mechanism that grasps and pulls in different types of objects. These two movements are generated by only a single actuator while two independent actuators are used in conventional grippers. To demonstrate this principle. we have developed two kinds of gripper by different driving systems: one is driven by a DC motor with planetary gear red... https://safeersappliancers.shop/product-category/rangemaster-classic-deluxe-90cm-dual-fuel-range-cooker-lpg-convertible-black/