Transmission Performance Analysis of GXU-grasper Fingers Based on Object Contours

doi:10.3901/JME.2025.01.071

Abstract

Abstract: GXU-grasper is a kind of adaptive grasper for fragile and deformable objects, and its transmission performance during finger drive is the theoretical basis for the control strategy of this kind of grasper. The performance of the GXU-grasper finger drive is analyzed based on object contour to give an adaptive grasper grasping drive scheme based on object contour. First, the mapping model between grasper knuckles and object contours is established, and the angular parameters affecting the transmission performance of the grasper are analyzed. Secondly, the key parameters affecting the drive of the finger drive mechanism of the adaptive grasper are studied. Based on the principle of virtual work, establish the relationship between the driving torque and driving angle of each linkage of the multi-stage transmission mechanism. Analyze the motor drive mechanism and establish the mathematical model of the motor drive slider moving distance and the driving angle of the first knuckle unit, and derive the driving torque affecting the motion of the grasper drive mechanism. Then, taking the grasping of irregular and easily deformed sponge objects as an example, numerical simulation is used to calculate the parameters affecting the finger drive performance. Finally, the reasonableness of the GXU-grasper finger drive performance analysis and the grasping drive scheme is verified through experiments. The work provides a reference for this kind of adaptive grasper drive control method.

Key words: adaptive grasper, object contour, transmission performance analysis, drive scheme, non-destructive grasping

CLC Number:

TH112

HUANG Haibo, MAO Yi, HUANG Fuqiang, WANG Rugui. Transmission Performance Analysis of GXU-grasper Fingers Based on Object Contours[J]. Journal of Mechanical Engineering, 2025, 61(1): 71-81.

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