Development of Adaptive Compliant Gripper Finger with Embedded Actuators

  • A. MilojevićEmail author
  • N. D. Pavlović
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 30)


Developing a gripper that can grasp objects of widely varying shapes represents a challenging task. Compliant mechanisms with embedded actuators are one way to obtain the gripper which could accommodate its grasping surface to any irregular and sensitive grasping object. This paper presents the new solution of adaptive compliant gripper finger with embedded actuators. Embedded actuators (within gripper finger structure) are able to morph shape of the grasping surface to accommodate different objects. Novel approach to the synthesis of compliant mechanisms with embedded actuators is also presented. The main contribution of this approach is that optimization of the actuator placement is included in the design process. It will be shown that gripper finger can achieve many complex grasping patterns via embedded actuators.


Adaptive gripper finger Compliant mechanism Embedded actuators Shape morphing surface Synthesis 


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Faculty of Mechanical Engineering, Department for Mechatronics and ControlUniversity of NišNišSerbia

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