Kinematic Constraint Analysis: The Passive Gripper Challenge

Design and construct a purely mechanical, passive-actuation end effector capable of grasping three distinct objects of varying geometry and mass using only gravity or a single linear displacement input. Your solution must demonstrate a clear grasp of underactuated linkage synthesis and force closure principles while maintaining a structural mass under 500 grams. Evaluated based on cycle reliability, grip stability under a 2G acceleration load, and the integration of a compliant transmission mechanism.