Design and Parameter Evaluation of a Novel Type Flexible Gripper with Characteristic of Limited Output-force Protection

Flexible grippers are widely used in micromanipulation system due to their capability of micro/nano resolution. However, it cannot avoid damaging the grasped object for the gripper cannot provide a constant output force or the limited range constant force. To solve these issues, a flexible gripper with constant force characteristic was designed based on an amplification module and a constant force module with series- structure. Based on the pseudo-rigid body method, the stiffness and magnification ratio model of the bridge type mechanism and the lever mechanism were established. The relationship between the force and displacement of the inclined guide beam was obtained with 42.5 N constant output force and 370 μm output range. Finally, the effect of each parameter on the constant force characteristics was analyzed with MATLAB. The research results can provide some theoretical guidance for the configuration design of flexible constant force grippers.