A New Principle of Adaptive Compliant Gripper

  • D. PetkovićEmail author
  • N.D. Pavlović
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 3)


Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shapes and surfaces is a very challenging task. This paper presents an approach of the new principle of a universal gripper with adaptable shape morphing surfaces. The adaptive surfaces will have the controllability by a compliant system with embedded actuators and sensors. The main sensing system has to be made of a conductive silicone rubber or foam. These are carbon-black filled silicone materials with good sensing properties whose electrical resistance is changed by compression. The implemented controllable system will be able to morph shapes of the gripper to accommodate different objects. A methodology for design of the compliant adaptive gripper will be presented. The main advantage of this compliant gripper is the connection of controllability and observability in one system by a compliant mechanism.


Adaptive gripper Compliant mechanism Conductive silicone rubber Shape morphing 



This paper is supported by Project Grant III44004 (2011-2014) financed by Ministry of Education and Science, Republic of Serbia.


  1. 1.
    Choi, H., Koc, M.: Design and feasibility tests of a flexible gripper based on inflatable rubber pockets. Intern. J. Mach.Tools 46 (2006) 1350-1361.CrossRefGoogle Scholar
  2. 2.
    Pettersson, A., Davis, S., Gray, J.O., Dodd, T.J., Ohlsson, T.: Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes. J. Food Eng. 98 (2010) 332-338.CrossRefGoogle Scholar
  3. 3.
    Han, H.-Y., Arimoto, S., Tahara, K., Yamaguchi, M., Nguyen, P.R.A.: Robotic pinching by means of a pair of soft fingers with sensory feedback. In: Proceedings of the 2001 IEEE International Conference on Robotics & Automation, Seoul, Korea, pp. 97-102 (2001).Google Scholar
  4. 4.
    Brown, E., Rodenberg, N., Amend, J., Mozeika, A., Steltz, E., Zakin, R., Lipson, H., Jaeger, M.: Universal robotic gripper based on jamming of granular material. In: Proceedings of the National Academy of Sciences of the United Stated of America, pp. 18743-19132 (2010).Google Scholar
  5. 5.
    Shuib, S., Ridzwan, M.I.Z., Kadarman, A.K.: Methodology of compliant mechanisms and its current developments in applications: a review. America J. App. Sc. 4(3) (2007) 160-167.CrossRefGoogle Scholar
  6. 6.
    Rediniotis, O.K., Wilson, L.N., Lagoudas, D.C., Khan, M.M.: Development of a shape-memory-alloy actuated biomimetic hydrofoil. J. of Intelligent Material Syst. And Struct. 13(1) (2002) 35.CrossRefGoogle Scholar
  7. 7.
    Lu, K.-J., Kota, S.: Parametrization strategy for optimization of shape morphing compliant mechanisms using load path representation. In: Proceedings of DETC’03 ASME 2003 Design Engineering Technical Conferences and Computers and Information in Engineering Conference Chicago, Illinois USA, pp. 693-702 (2003).Google Scholar
  8. 8.
    Lu, K.-J., Kota, S.: An effective method of synthesizing compliant adaptive structures using load path representation. J. of Intelligent Material Syst. And Struct. 16 (2005) 307-317.CrossRefGoogle Scholar
  9. 9.
    Lu, K.-J., Kota, S.: Compliant mechanism synthesis for shape-change applications: preliminary results. Smart Struct. And Materials. 4693 (2002) 161-172.Google Scholar
  10. 10.
    Lu, K.-J., Kota, S.: Design of compliant mechanisms for morphing structural shapes. J of Intelligent Material and Struct. 14 (2003) 379-391.CrossRefGoogle Scholar
  11. 11.
    Kota, S., Hetrick, J., Osborn, R., Paul, D., Pendleton, E., Flick, P., Tilmann, C.: Design and application of compliant mechanisms for morphing aircraft structures. Smart Struct. And Materials. 5054 (2003) 24-33.Google Scholar
  12. 12.
    Campanile, L.F.: Model synthesis of flexible mechanisms for airfoil shape control. J of Intelligent Material and Struct. 19 (2008) 779-789.CrossRefGoogle Scholar
  13. 13.
    Trease, B., Kota, S.: Adaptive and controllable compliant system with embedded actuators and sensors. Active and Passive Smart Struc. And Integrated Syst. 6525 (2007) 65251R.Google Scholar
  14. 14.
    Alirezaei, H., Nagahubo, A., Kuniyoshi, Y.: A highly stretchable tactile distribution sensor for smooth humanoids. In: 7th IEEE-RAS International Conference on Humanoid Robots, pp. 167-173 (2007).Google Scholar
  15. 15.
    Hou, T.-C.H., Lynch, J.P.: Tomographic imaging of crack damage in cementitous structural components. In: 4th International Conference on Earthquake Engineering Taipei, Taiwan, pp. 1-10 (2006).Google Scholar

Copyright information

© Springer Science+Business Media B.V. 2012

Authors and Affiliations

  1. 1.Faculty of Mechanical EngineeringUniversity of NišNišSerbia

Personalised recommendations