A gripper based on a compliant bitable mechanism for gripping and active release of objects

A gripper with an embedded compliant bistable mechanism for gripping and autonomous release of objects is developed. Due to adhesion forces, objects might stick to the end-effector of a gripper upon release, where a shaking operation is necessary to release the objects. A bar adjacent to the shuttle mass of the bistable mechanism may achieve autonomous release of objects adhered to the end-effectors. Gripping and autonomous release of objects are accomplished when the bistable mechanism moves backward and forward, respectively. With the embedded bistable mechanism, the gripper requires no power input during gripping of objects. The compliant structure of the gripper renders no backlash, friction and wear for its operation.