为了提高机器人手臂/细胞的多功能性和盈利能力，许多机器人领域的人开始研究和开发更实用、多功能的末端执行器。本文介绍了一种新型末端执行器（双辊夹持器）的设计和制造，其设计适用于多种应用。本文讨论了夹持器的尺寸、轨迹形状和组成，以及对轨迹和钳口位置提供连续反馈的传感器。

THE NEED TO INCREASE THE VERSATILITY AND PROFITABILITY OF ROBOT ARMS/CELLS IS LEADING MANY IN ROBOTICS TO PURSUE RESEARCH AND DEVELOPMENT OF MORE PRACTICAL AND VERSATILE END EFFECTORS. THIS PAPER DESCRIBES THE DESIGN AND FABRICATION OF A NEW END EFFECTOR (TWO ROLL GRIPPER) WHOSE DESIGN LENDS ITSELF TO A WIDE VARIETY OF APPLICATIONS. DISCUSSED IN THIS PAPER ARE GRIPPER SIZE, TRACK SHAPE AND COMPOSITION, AND SENSORS WHICH PROVIDE CONTINUOUS FEEDBACK ON TRACK AND JAW POSITION.