The Design And Experimental Study Of Underactuated Robot Gripper

At present, the most crucial task in the robot gripper development is still on how to solve the drive and control strategy problem. The traditional strategy of robot gripper is integrated with information technology, control science, electronics and knowledge of other fields, which seemed so complex and huge. 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 character 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, 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.Finally, by using the Rapid Prototyping Machine, the components of the underactuated robot gripper can be quickly manufactured, and then assembling the components and debugging the movement of the underactuated robot gripper. Through the experiments on grasping the objects with different shape, the feasibility of the design of underactuated robot gripper can be verified.