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This is a parallel-jaw motion compliant gripper. When we press the handles on the left to bring them together, the jaws on the right close with little or no tilt. This was intuitively conceived distributed compliant mechanism. It can also be used to roll an object by applying unequal forces on the handles. It was used to create a miniature version that could roll a zebra fish embryo in M2M2@IISc.
Physical model
Digitized model
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Click to go to CAD files of this model