Abstract
This paper describes concepts for finger-grippers based on compliant multistable class 1 tensegrity structures. Two of these concepts are selected and examined in detail. With theoretical investigations the member parameters and the resulting gripping forces are determined. There are done dynamical analyses of one of these grippers to obtain the behaviour with an actuation force. Moreover demonstrators of both grippers are built.
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CITATION STYLE
Sumi, S., Böhm, V., Schorr, P., Zentner, L., & Zimmermann, K. (2019). Compliant class 1 tensegrity structures for gripper applications. In Mechanisms and Machine Science (Vol. 59, pp. 392–399). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-319-98020-1_46
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