Design and Contact Force Analysis of Under-actuated Manipulator with Hybrid Working Mode

doi:10.3901/JME.2021.01.008

Abstract

Abstract: At present, robot hand is mainly used in the interaction between robot and environment. The finger end trajectory of the traditional underactuated robot hand is not a straight line, which makes it impossible for them to grasp the thinner objects and small objects on the desktop. In order to overcome this defect, many researchers add a straight-line mechanism to the underactuated hand structure, so that it can grasp the objects on the platform. However, the existing structures are all structures with two knuckles, which have smaller grasping range and less application occasions compared with the structures with three knuckles. In order to solve the above problems, a new type of under drive operation based on the theory of metamorphic principle is designed. The finger has three knuckles. It has two working modes: linear parallel pinching mode and adaptive grasping mode. In the linear parallel pinching mode, the underactuated finger can be regarded as a two joints finger with better stability; in the adaptive grasping mode, the underactuated finger can be regarded as a three joints finger with larger working space and better ability to grasp irregular objects. The mechanism can adaptively change the working mode according to the size, position and shape characteristics of the object. In order to provide theoretical reference for design, kinematic analysis and contact force analysis are carried out on the finger part of under-actuated manipulator. The experimental results show that the hand has a wide range of application and good grasping performance.

Key words: metamorphic principle, manipulator, under-actuated, kinematic, contact force

CLC Number:

TH112

LI Xiaopeng, GUO Junqiang, SUN Wanqi, SHANG Dongyang, WEN Bangchun. Design and Contact Force Analysis of Under-actuated Manipulator with Hybrid Working Mode[J]. Journal of Mechanical Engineering, 2021, 57(1): 8-18.

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