Numerical Analysis of Geometric Scaling Effects on the Stiffness Behavior of a Robotic Gripper

This study presents a comprehensive numerical investigation into the stiffness behavior of a robotic gripper subjected to geometric scaling in three principal dimensions—length, width, and height—using the Finite Element Method (FEM) within ANSYS Workbench 2025 R1. Robotic grippers play a vital role in industrial automation and precision manipulation tasks, where structural stiffness is a critical parameter influencing performance, load capacity, and accuracy. The objective of this research is to explore how changes in geometric dimensions affect the overall stiffness of the gripper, thereby guiding more informed design decisions.

A three-dimensional baseline model of a parallel-jaw robotic gripper was developed and systematically scaled along the three primary axes to evaluate the independent and combined effects of dimensional variation. Numerical simulations were conducted under realistic boundary conditions and loading scenarios to simulate operational use cases. The analysis focused on capturing the trends in stiffness response as a function of scaling, while considering structural integrity and mechanical efficiency.

The study offers valuable insights into how scaling strategies can influence mechanical behavior, providing a foundation for optimizing gripper geometry in future designs. Ongoing and future work aims to extend the methodology to dynamic loading conditions and explore material alternatives for enhanced performance and reduced weight.