Theoritical Study Of A Manipulator 2(2SPR+R+SP) And Mixed-connected Flexible Hand

With the research and application of the parallel mechanism,the limited DOF mechanism and the mechanism containing of closed-loop possess a greater rigidity,more compact,low cost manufacturing,it has better prospects for research.Serial-parallel mechanism includes both the advantages of the parallel mechanism and serial mechanism making up for the shortcomings of individual mechanism in the field,it has important research significance and development potential.Industrial manipulators after decades of the research have gradually been applied among manufacturing and other applications.Industrial manipulator is gradually being used in the industrial production line for the partsgripping and agricultural fruits and vegetables picked.For the robot theory research has also been widespread concern.This paper puts forward a new type of series-parallel mechanism consisting of the two branches of plane of limited DOF mechanism and a hybrid mechanical spring fingers grasping system model.At the same time,Two bodies are applied for a China paten and Project.The main contents are the following.Analysis of series-parallel mechanism includes that based on the Vector method two parallel mechanism position vector model can be established,on the basis of the established position of the model and the influence coefficient method,the kinematic model can be solved through it;the static and dynamic models are using the principle of virtual work and Newton Euler method to establish the relationship between the centralized static load force and the driving force.Through three-dimensional software and CAD verify the accuracy of each model.Finally CAD variable geometry approach is used to draw the workspace.For three spring mechanical fingers grasping system,the research mainly contains the designing of hybrid manipulator institution,the solving of the grasping stability criterion and grasping force.Finally,establish linear relationship between the amount of displacement and the driving finger gripping force values.