This MSc project focuses on gripper design using mechanical intelligence principles such as underactuation, compliance, and bi-articulation. Previous related projects have developed a two-finger underactuated tendon-driven gripper with variable stiffness and an optimal nonlinear stiffness mechanism.
The main goal of this MTP is to upgrade the tendon-driven gripper to three fingers and integrate the optimal design of the nonlinear stiffness mechanism. Additionally, other main objectives are to reduce the size of the whole mechanism and improve its controllability and accuracy.
