Compliant Gripper Based on a Multistable Tensegrity Structure

Abstract

This paper describes a new design approach of compliant grippers based on tensegrity structures with multiple states of self-equilibrium. As an example a planar tensegrity structure with two stable equilibrium states is considered and its potential use in a two-finger-gripper is discussed. The form finding and the influence of the segment parameters on global structural properties (e.g. mechanical compliance, static stability) are considered, with the help of static geometric nonlinear analyses, based on the Finite Element Method. The working principle is verified for a selected prototype.