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Open AccessCommunication
Appl. Sci. 2016, 6(11), 367; doi:10.3390/app6110367

Feasibility Study of a Gripper with Thermally Controlled Stiffness of Compliant Jaws

School of Engineering, University College Cork (UCC), Cork T12 YN60, Ireland
Author to whom correspondence should be addressed.
Academic Editor: Kuang-Cha Fan
Received: 29 September 2016 / Revised: 8 November 2016 / Accepted: 16 November 2016 / Published: 18 November 2016
View Full-Text   |   Download PDF [1099 KB, uploaded 18 November 2016]   |  


This paper proposes a simple and compact compliant gripper, whose gripping stiffness can be thermally controlled to accommodate the actuation inaccuracy to avoid or reduce the risk of breaking objects. The principle of reducing jaw stiffness is that thermal change can cause an initial internal compressive force along each compliant beam. A prototype is fabricated with physical testing to verify the feasibility. It has been shown that when a voltage is applied, the gripping stiffness effectively reduces to accommodate more inaccuracy of actuation, which allows delicate or small-scale objects to be gripped. View Full-Text
Keywords: compliant mechanisms; gripping; stiffness reduction; thermal control compliant mechanisms; gripping; stiffness reduction; thermal control

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Hao, G.; Riza, M. Feasibility Study of a Gripper with Thermally Controlled Stiffness of Compliant Jaws. Appl. Sci. 2016, 6, 367.

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