2022
Grasp Stability and Design Analysis of a Flexure-Jointed Gripper Mechanism via Efficient Energy-Based Modeling
RA-L 2022
For flexure-based gripper mechanisms, the arrangement and design of joint elements may be chosen to allow enclosure of objects in grasping. This must provide stable containment under load, without causing excessive stress within the joint materials. This paper describes an energy-based model formula