Passive Adaptive Object Prehension, Retention, and Release With a Mechanically Intelligent Gripper

Abstract

This letter presents a mechanically intelligent gripper that is capable of passive and adaptive object prehension, passive object retention, and passive object release. Passive adaptive prehension is achieved through a compliant linkage with two Fin Ray fingers that enclose an object when the gripper is pushed onto it. The object is held firmly in place during transport by a linear ratchet mechanism that locks the compliant mechanism in place. An asymmetric ratchet release mechanism releases the object using gravitational force when the gripper is maneuvered in its release-orientation. The absence of actuators, electronics, and a tether or embedded power source make the presented adaptive gripper a promising technology for challenging environments where low energy consumption and robustness to dirt and water are critical.