Abstract A compliant gripper with parallel movement of jaws is developed. The gripper is composed of a bar linkage mechanism and a bistable mechanism. After a target object is grasped, the embedded bistable mechanism can maintain the gripping of the object with no energy consumption. Unstable fixation due to rotary motion of opposing gripping arms of traditional tweezer-like grippers is alleviated by the proposed gripper. Kinetostatic models of the device based on chained beam constraint model are derived to assist the design of the device. Grasp function of an object is accomplished while the gripper proceeds from its first stable equilibrium position to its second stable equilibrium position, and release of the object is achieved when the gripper returns back to its first stable equilibrium position.

中文翻译：

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具有平行夹爪运动的柔顺夹具的设计和建模

摘要 研制了一种夹爪平行运动的柔性夹具。夹持器由连杆机构和双稳态机构组成。抓取目标物体后，嵌入式双稳态机构可以保持物体的抓取，且不消耗能量。所提出的夹持器减轻了由于传统镊子状夹持器的相对夹持臂的旋转运动而导致的不稳定固定。推导出基于链式梁约束模型的装置的动静力学模型，以辅助装置的设计。当夹具从其第一稳定平衡位置前进到其第二稳定平衡位置时完成物体的抓取功能，当夹具返回其第一稳定平衡位置时实现物体的释放。