TriCoM Gripper–Part I: Mechanical Design and Synthesis of a 3-Finger Compliant Monolithic Gripper

Robotic grippers are now indispensable in agricultural harvesting and handling, significantly reducing reliance on manual labor and enhancing efficiency. This paper presents the design, analysis, and optimization of TriCoM, a portable three-finger underactuated gripper with compliant joints specifically designed for food and fruit handling. The design process begins with the creation of a rigid body mechanism, which is then transitioned to a compliant, flexure-based mechanism. The proposed rigid body structure’s motion is initially analyzed using RecurDyn. After transitioning to the compliant flexure-based counterpart, the design is optimized for target workspace and stroke, and finally synthesized to construct the complete gripper. The performance of the gripper, optimized for handling apricots, demonstrates effective grasping capabilities with minimal stress, showcasing its potential for broader applications in agriculture and food handling.