JOINT COUPLING DESIGN OF UNDERACTUATED GRIPPERS

The joint coupling necessary to allow for underactuation is often accomplished through compliance in the manipulator structure. Compliance is perhaps the simplest way to allow for coupling between joints without enforcing the fixed-motion coupling relationship inherent with gear or linkage couplings. Compliant couplings are a simple way to allow a joint to passively deflect without causing a fixed-motion proportional change in the joints to which it is coupled.

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