Structure And Parameter Optimization Of The Underactuated Robot Gripper

The robot gripper designed in this paper is based on the metamorphic mechanism and underactuated mechanism. With3fingers, the grasper is drived by a novel3DOF different gear train to achieve the9DOF by one drive element. The3fingers can make adjustments automatically to match the shape of object, which ensure the reliably of the grasping. It can be applied to grasp the objects in different shape and sizes, and to achieve the mechanical adaptability of grasping.At first, this paper makes a detailed analysis on the working principle and working process of the mechanical fingers according the principle of underactuated mechanism based on metamorphic mechanism, designs a underactuated robot gripper finger baseing on a four bar linkage and makes research on its kinematics, from which we can find out the structure parameters that affects the underactuated fingers.Secondly, unstable graspings are discussed baseing on the model built, and the situation not to ejection is available. And then we derivate the formula between contact forces and actuator torques, with which we make some programme, so we can get a series of databeses which are suitble of capture condition. At last, optimized computations are carried on in order to get the best length proportion among the three finger joint.Finally, by using software Pro/E, it makes particular design on the structure and function of main components of the robot gripper, and sets up the3D model of the underactuated robot gripper. The virtual prototype builded in ADAMS can make the emulational research on dynamics and kinematics of the gripper. By the analysis on simulation results of the hand grasping the objects of different shape and sizes, the feasibility of structure design of multi-dof underactuated robot gripper can be verified.