Grasp Analysis And Structural Optimization Of A Compliant Manipulator

With the development of technology,more and more industries need robots to complete tasks.The Festo Multi Choice Gripper,At the same time,it has a clever design and simple structure,but also has a strong adaptive force and gripping force.As a distributed flexible mechanism,the manipulator has many advantages such as small number of components of the flexible mechanism,simple assembly,light weight,no lubrication,and simple maintenance.Therefore,many researchers have carried out grab analysis on this manipulator,and then optimized its structure.But the combination of finite element software and experiment is the main research method in these studies,therefore,the optimization direction is unclear,the workload is large,and the cost is high.In this paper,first,based on CBCM,a mathematical model of cantilever beam that can analyze the load of multiple nodes in the middle is proposed,and then a method of analyzing the cantilever beam in contact state is proposed.Secondly,based on the CBCM,a mathematical model of the manipulator is established,and then it is grasped and analyzed by the method of simulated contact analysis.Finally,based on the mathematical model of the manipulator,a new weighting rule is proposed to optimize the important structural parameters of the manipulator.The specific work content is as follows:(1)In this paper,based on CBCM as the theoretical basis,a mathematical model that can analyze multi-node loaded flexible cantilever beams is established to solve the mechanical finger grab analysis problem.Each plane load point has three load parameters and three position parameters.The model can directly add any three parameters corresponding to the node to any node of the beam,so that the deformation of the entire cantilever beam can be analyzed and solved The remaining three parameters correspond to this point.The accuracy of the mathematical model is verified by example calculation.(2)Based on the CBCM numerical solution characteristics and the flexible beam deformation characteristics,a simulated contact analysis method is proposed,and the cantilever beam under multiple contact modes is analyzed,and comparing the results with the results of ANSYS contact analysis confirmed the feasibility of this idea.(3)Based on the CBCM,a mathematical model of the flexible fin structure is established,and the deformation,reaction force and strain energy of the mechanical finger under various load conditions are calculated.After verifying the accuracy of the mathematical model,based on the CBCM simulation contact analysis method,in this paper,the contact points and contact forces on the mechanical finger is under different contact states are analyzed.(4)The univariate method is used to analyze the influence of mechanical finger parameters on the mechanical finger’s force,total strain energy and partial strain energy,determine the parameter constraints,and propose an optimization method that combines the rigidity requirements and flexibility requirements of the flexible mechanism.Partial strain energy ratio is minimized,and finally a set of optimal flexible manipulator parameters is obtained.