Design of a Compliant Gripper With Multimode Jaws

This paper presents the design of a multi-mode compliant gripper, using the singularities of the four-bar mechanism with equilateral links. The mobility of the compliant gripper can be reconfigurable to grasp a variety of shapes or adapt to specific requirements. The compliant gripper is a compact and two-layer structure. Two linear actuators are required to enable the multiple operation modes, by the conversion of two pairs of slider-crank mechanisms. A multi-mode compliant four-bar mechanism is first presented and kinematically analysed. The design and the kinetostatic modelling of the resulting compliant gripper are then performed. Finally, the analysis of the reconfigurable compliant gripper under different actuation schemes is carried out, including the comparison of the results obtained from analytical modelling, finite element analysis and experimental testing.

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