Design and Test of a Curved-Beam Based Compliant Gripper for Manipulations of Actively Deformable Objects

Sizes and stiffness variations of actively deformable objects pose significant challenges on the design compliant constant-force gripper. This paper presents a curved-beam based constant force gripper which is composed module, bistable preloading module linear guide. A mechanism designed to generate output, non-constant motion range further eliminated via curved-based module. After formulation find optimal configuration, verified through comparison with simulation results. Finally, prototype proposed tested demonstrate its grasping capacity.