Systematic mapping of synthesis methods for compliant grippers using PRISMA

Mechanism and Machine Theory, vol. 206, pp. 105900

Abstract

Systematic design , development and applications of Compliant Grippers (CGs) have surged in the past decade. The works are diverse but information is dispersed. This paper provides a systematic review of 1009 peer reviewed manuscripts in the last ten years, sourced from the Scopus database. Keywords search on CG design, analytical methods, gripper size and design verification . 239 papers are mapped onto applications, types of workpieces, actuation technologies, focusing onto CG design methodologies. Actuation methods are classified into indirect and direct. The Preferred Reporting Items for Systematic Reviews and Meta-Analysis (PRISMA) protocol is followed. Key findings include: (i) CGs are mostly designed with direct mechanical load actuation, the corresponding synthesis methods follow well defined processes; (ii) Most CGs cater to convex, regular and small objects; (iii) much focus on their application is on research and development followed by manufacturing and assembly, healthcare, electronics and semiconductors and food processing; (iv) fluidic actuation is gaining prominence but not as much as direct actuation ; and (v) systematic synthesis methods are needed for other existing and emerging technologies like controlled adhesion, smart materials and jamming.

Authors 4

1. Estefania Hermoza Llanos corresponding
2. Burkhard J. Corves Aachen

   RWTH Aachen University

   Affiliation as printed

   IGMR, RWTH University, Aachen 52062, Germany

3. Mathias Huesing Aachen

   RWTH Aachen University

   Affiliation as printed

   IGMR, RWTH University, Aachen 52062, Germany

4. Anupam Saxena Aachen

   RWTH Aachen University · Indian Institute of Technology Kanpur

   Affiliation as printed

   Department of Mechanical Engineering, Indian Institute of Technology, Kanpur 208016, Uttar Pradesh, India

   IGMR, RWTH University, Aachen 52062, Germany