Abstract: Robot grippers play a key role in the reliable grasp and manipulation of easy-deformable micro objects. In order to realize gripper attitude adjusting at a large extent, this study designed a kind of hybrid compliant gripper based on electromagnetic drive. Firstly, the input stiffness, rotation couplings, displacement amplification and gri-pper force of the compliant gripper were modelled based on Catiglianos second theorem. Then the material and design structural parameters were defined through the proposed optimization method of staged compliant clamp me-thod, and a single optimal objective mathematical model was built. Based finite element analysis, the designed results were verified in the field of driving force, grasping range, and grasping force, which all reach the design requirements. Finally, the performance of compliant clamps was testified on the established experiment platform. The experimental results indicate that rotation range and precision of the designed gripper fit in with expectation, and can undertake the stable grasping task for flexible lithium-battery plastic shell.

Key words: electromagnetic drive, two DOF hybrid compliant gripper, Catigliano's second theorem, input stiffness, rotational coupling, clamping force, finite element analysis