Research On Underactuated Mechanical Gripper With Flexible Front End

With the transformation and upgrading of the manufacturing industry,robots are widely used in various industries such as industrial production and home services.As the end operation and clamping equipment of robots,mechanical grippers play an important role in this process.Traditional mechanical grippers are generally specialized equipment designed based on specific grasping objects,which have poor flexibility and cannot adapt to grasping objects of different shapes and sizes.Moreover,their stiffness is generally relatively high.In order to enhance the versatility and adaptability of the mechanical gripper,this paper designs an underactuated mechanical gripper based on the flexible finger joint structure at the front end.The gripper can not only grasp larger and heavier objects,but also complete the pinching of smaller sized objects.The main research content of the paper is as follows:Firstly,a design scheme for the front-end flexible finger joint structure is proposed.Based on the ANSYS finite element analysis platform,the influence of different manufacturing materials,structural forms,and structural parameters on its deformation performance is analyzed in detail.Finally,the optimal manufacturing materials,structural forms,and structural parameters for the front-end flexible finger joint structure are determined.Secondly,based on the characteristic analysis of human hand physiological structure in medicine and combined with the front-end flexible finger joint structure,the mechanical structure of the mechanical gripper is designed,including the overall layout of the gripper and the design of a single finger.Analyze the advantages and disadvantages of several existing driving and transmission methods,determine the driving and transmission methods of the front-end flexible mechanical gripper,and design the transmission scheme of this mechanical gripper.Then,kinematics and statics analysis are carried out on the front flexible manipulator,and the D-H coordinate system of the finger is established.The relationship between the position of the end of the finger and the position and posture of each knuckle corner is obtained by using the homogeneous transformation matrix between the finger link coordinate systems.At the same time,the statics analysis of a single finger is carried out to analyze the relationship between the contact force of each finger knuckle and the driving force when the robot gripper stably grabs the object.Finally,analyze the two gripping forms of the mechanical gripper,and conduct mechanical analysis on the different gripping processes of the mechanical gripper using ADAMS and ANSYS.Analyze the changes in contact force of each finger joint under these two forms,and verify the envelope gripping ability of the mechanical gripper for large-sized objects and the front-end gripping ability for small-sized objects.