Simulation and optimization of a gripper based on a multistable tensegrity-structure

Due to their characteristic properties, tensegrity-structures inspire new developments in various technical areas. Multistable tensegrity-structures are a particularly interesting approach for the development of grippers. This paper first provides an overview of previous gripper developments based on tensegrity-structures. Based on these developments, an optimization approach is described. The objective here is to increase the effectiveness of the gripper by modifying its mode of operation. The functionality of the optimized gripper is demonstrated by means of simulations. The corresponding formulas are given for calculating the stiffness of the tensile segments at a desired gripping force.