Using A Rotary Spring-Driven Gripper to Manipulate Objects of Diverse Sizes and Shapes

This paper introduces a new gripper mechanism that is capable of grasping objects various sizes and shapes without the need for closed-loop control system. Industries such as food beverage industry are seeking innovative soft grippers with simplified The proposed design utilizes rotary springs to achieve both force-closure form-closure grasping. sets itself apart from most its ability offer forces in all lateral directions. designed cylindrical shape actuated by stepper motor gearbox enhance torque. Three stacked curvilinear linear rails convert motor’s rotational motion into motion. component consists three curved parts, each incorporating numerous compression springs. Currently, can effectively grasp ranging five nine centimeters diameter, maximum height ten centimeters. However, scalable based on specific application requirements. A comprehensive CAD model was developed, multiple analyses were conducted, including motion, topology, stress analyses. Finally, functional prototype constructed successfully tested fruits vegetables different shapes. research be further expanded explore space exploration novel completely electro-mechanical foundation.