Compliance effects in a parallel jaw gripper

This paper discusses mechanical compliance effects in a gripper with parallel jaws. In it a case study of a dedicated gripper design is presented to analyse two different design elements influencing the compliant behaviour: the flexibility introduced by preloaded springs and the resistance caused by friction. The gripper manipulates semi-automatic twistlocks used for securing seagoing cargo containers. The compliance effects are effective to reduce misalignment and overload of the gripper.