  In this paper, a 1-DoF gripper mechanism has been synthesized for the type of
mechanism, number of links and joints, and the dimensions of length, width and
thickness of links. The type synthesis is done by selecting the proper class of
mechanism from Reuleaux's six classes of mechanisms. The number synthesis is
done by using an algebraic method. The dimensions of the linkages are found
using the geometric programming method. The gripper is then modeled in a
computer aided design software and then fabricated using an additive
manufacturing technique. Finally the gripper mechanism with DC motor as an
actuator is mounted on an Unmanned Aerial Vehicle (UAV) to grip a spherical
object moving in space. This work is related to a task in challenge 1 of
Mohamed Bin Zayed International Robotics Challenge (MBZIRC)-2020.
