A Novel Constant Force Compliant Gripper Design

Abstract

The aim of this thesis is to design a novel constant-force compliant gripper mechanism. The design is a monolithic holding mechanism which is fixed on one side and free on the gripper side. The mechanism has four compliant hinges and produces an approximate constant force along a variable range of gripper. The mechanism is symmetric; thus, one side is considered for the analytic model. The mathematical model of this mechanism is to be created using the Pseudo-Rigid Body Method. The parameters of the mathematical model are calculated analytically and then optimized to obtain a constant force gripper. Finally, this mechanism is analyzed by finite element method and compared with the mathematical model.