Design and Development of a Compliant Robotic Gripper

This poster presents the development of an improved compliant gripper for the micro-robot “Coli.” The project addresses the challenge of combining gripping and lifting functions using a single small servo. By applying biomimetic design principles, the gripping pads exploit the Finray Effect, a biological principle inspired by the flexible fin structures of fish, allowing them to adapt to different object shapes and improve gripping performance. The design integrates a reusable robot component, a sliding rail mechanism, a lifting axis, and 3D-printed TPU 85A gripping pads. CAD modelling using "Creo" CAD Software and FreeCAD supported the development of a compact and functional solution, demonstrating how biomimetics can improve the adaptability and functionality of robotic grippers.