A Novel Gripper Based on a Compliant Multistable Tensegrity Mechanism

Abstract

Within this paper a novel gripper is introduced. The gripper is based on a tensegrity mechanism with multiple states of self-equilibrium. These tensegrity mechanism is built upon a mechanical compliant tensegrity structure, consisting of tensile and compressive members. The existence, shape and stability of the different states of self-equilibrium depend on the parameters of the members. After investigating this dependency with a form-finding algorithm the structure is extended with additional members to obtain a two-finger-gripper. The equilibrium configurations represent the opened and the closed state of the gripper. Due to the several equilibrium configurations, the control of the gripper can be realised easily and is discussed with theoretical analyses. The working principle of the gripper and the mechanical compliance is verified by a prototype. In addition, as an outlook for further works, a miniaturised prototype of the tensegrity mechanism with two stable states of self-equilibrium has been built.