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A major challenge that many grippers face is the space they occupy when in the open configuration. If a robotic arm tries to move with its gripper in this configuration, then its fingers could collide with obstacles. Essentially, these grippers become hindrances instead of assets, and the motion planner has less room to work with. Therefore, it is beneficial to have these fingers occupy less space during transit, while maintaining grasp capabilities.
(Doctors performing surgery with a daVinci robot.
This is an example of a scenario that requires specialized grippers.)
Graphical Representation of Robotic Gripper Impacting Target Object
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