Design and Test of a Curved-Beam Based Compliant Gripper for Manipulations of Actively Deformable Objects

Design and Test of a Curved-Beam Based Compliant Gripper for Manipulations of Actively Deformable Objects

Blog Article

Sizes and stiffness variations of actively deformable objects pose significant challenges on the design of powell and mahoney bloody mary mix compliant constant-force gripper.This paper presents a curved-beam based constant force compliant gripper which is composed of the constant force module, the bistable module, the preloading module and the linear guide.A curved-beam constant force mechanism is designed to generate constant force output, the non-constant force motion range of which is further eliminated via curved-based bistable mechanism and preloading module.After a formulation to find the optimal gripper configuration, the design is verified through comparison with simulation results.Finally, whelen arges spotlight a prototype of the proposed gripper is tested to demonstrate its grasping capacity.