Design and analysis of a 2-DOF compliant gripper with constant-force flexure mechanism

  • Xiaozhi Zhang
  • Qingsong XuEmail author
Research Paper


This paper presents the design and testing of a novel flexure-based compliant parallel gripper with constant driving force. One uniqueness of the gripper lies in that it achieves two-degree-of-freedom (2-DOF) independent constant driving force in grasping and rolling operations. In each direction, the grasping and rolling operation is executed with the constant driving force. The parallel-kinematic flexure mechanism design enables nearly decoupled operations in 2-DOF manipulation. The constant driving force property enlarges the grasping range by reducing the required driving force. Analytical modeling of the gripper mechanism is carried out based on pseudo-rigid-body method, which is verified by conducting simulation study with nonlinear finite-element analysis (FEA). Parametric study is conducted to investigate the influence of each design variable on the gripper performance. To demonstrate the performance of the gripper, a prototype is fabricated by 3D printer. Experimental results reveal that the devised gripper owns a good constant driving force property during grasping.


Compliant mechanism Gripper Parallel mechanism Constant force Mechanism design 



This work was supported in part by the National Natural Science Foundation of China under Grant No. 51575545, the Macao Science and Technology Development Fund under Grant No. 179/2017/A3, and the Research Committee of the University of Macau under Grant No.: MYRG2018-00034-FST.


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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Department of Electromechanical Engineering, Faculty of Science and TechnologyUniversity of MacauMacauChina

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