Design Parameter Optimization of a Curvature-Tunable Compliant Finger Gripper Driven by Sliding Actuation

Abstract

This study presents a robust and mechanically simple Compliant Finger Gripper(CFG) that combine the advantages of both force closure and form closure mechanisms to improve grasping performance. The proposed gripper consists of two carbon fiber reinforced plastic (CFRP) plates and operates without traditional mechanical joints. Its deformation is induced by linear actuation, allowing it to securely grasp various objects through compliant motion. Main design parameters: thickness ratio, vertical separation, entry angle, and exit angle were identified and optimized using a two-stage experimental approach based on the Taguchi method. The experiments evaluated the structural response and grasping force under varying user conditions, and sensitivity analysis revealed the most influential parameters. The final optimal design demonstrated a grasping performance that was 2.28 times greater than the basic design and over 6.38 times stronger than the worst design setup. Also based on the optimal Compliant Finger, the CFG was developed. The CFG was able to grasp irregularly shaped objects, and confirmed that it could stably grasp objects weighing up to 3 kg. The simplicity, adaptability, and effectiveness of this compliant gripper make it well-suited for applications involving delicate or irregularly shaped objects, particularly in compact systems that require relatively high weight grip.