Desıgn of A Constant Force Complıant Grıpper Mechanısm

Abstract

This thesis combines the knowledge base of the Compliant Mechanism (CM) with the Constant Force Mechanism (CFM) based upon previous works, which initiate and trigger the key principles of design techniques and simplification of the calculation details of the mechanism. The mechanism design techniques are explained and compared with a classical approach, optimization of the designed mechanism will take place with improved performance and range capabilities. The main target is to obtain constant force output range with normal and feasible displacement with a constant force or torque input. The thesis statement namely design of the Constant Force Compliant Gripper Mechanism (CFCGM) is the one of the hot topics in the literature not yet having enough mature invention. The flow charts and iteration procedure of the design techniques and processes are presented. These design techniques begin with classical mechanism design using kinematic analysis and dynamic analysis switching to CM the design and analysis are harder than before which is pointed out in detail in this thesis.