• Integrated modulable stiffness gripper

Starting by a known mechanism that joins two rotating shafts, without a direct connection and using a stiffness system made by springs and pulleys, I analyzed the functional principle to adapt it to a gripper's fingers.
I started making the analytic model of the mechanism that I then validated through experiments using a first gross prototype of a finger given to me.
After this initial phase I designed, made and assembled a first generation of a gripper prototype that, exploiting the stiffness system, could had a modulation of its characteristic curve "contact force - displacement" by rapidly and easily setting the position of the pulleys.
I concluded my work with the evaluation of the characteristic curve of the produced prototype with different stiffness configurations and I did some demonstrations of its functionality.