Design and analysis of a novel compliant constant force gripper

Abstract

The aim of this study is to introduce a novel compliant mechanism that has constant force characteristics. Maximizing the constant force stroke and minimizing the force fluctuation are the main objectives. The proposed design model is based on a compliant slider-crank mechanism which consists of two long compliant segments connected with a revolute joint. The analysis of mechanism is performed by using Pseudo Rigid Body Method and Virtual Work Method. Design parameters are optimized heuristically and some 3D design charts are introduced. Two specific non-dimensionless link proportions and segment stiffnesses are synthesized. By using a FEA software the mechanism is analyzed numerically as well. The comparison verified that the analytical approach and simulation results are in a close agreement.