Combining parallel a single axially compressed beam with a linear spring, a novel constant-force end effector is presented in this research. First of all, a transverse force-displacement relationship for the axially compressed beam is derived. And then, a combined dynamic model, which includes the axially compressed beam, the linear spring and a damper, is built. Finally, based above these dynamic models, the influences of some key designing parameters on the performance of the constant-force end effector are studied. It is assumed that the constant-force end effector is excited by a typical half-sine impact load when the end effector operated in an unknown environment. And then the dynamic equations of the constant-force end effector are solved by using fourth-order Runge-Kutta method. The calculating results exhibit that the value of the outputting force and the range of constant force can be optimized by changing the values of the axially compressed load and the free length for the single beam. In addition, the compressing force for the linear spring also can exert effect on the dynamic performance of the constant-force end effector. The duration of impact pulse and the systematic damping can influence the amplitude of the dynamic outputting force and the settling time for the responses of the constant-force end effector.
