General grasping is important for decreasing control difficulty. This paper proposes a novel general gripper with multi-layer circular sliding bars, which called the CSB gripper. The CSB gripper has a compact structure, which consists of a base, a motor, the transmission mechanism and the multiple groups of circular sliding bars. The CSB gripper can realize efficient self-adaptive grasping and stably grasping to meet the requirements for industrial production. The grasping force was analyzed for optimization. Based on the structure and kinematic analysis, the CSB gripper is proved to have good grasping performance and much application potential.
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