Mechanism Design and Mechanical Analysis of Multi-mode Grab Underactuated Hand
A multi-mode grab underactuated hand is proposed for the multifunctional requirements of robot end-effector manipulator. Based on the underactuated theory， the manipulator solves the disadvantages of the traditional compound underactuated hand， such as complex structure， many control elements and we...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-08-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.08.013 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841547275612979200 |
|---|---|
| author | Hanlin Sun Yu Hou |
| author_facet | Hanlin Sun Yu Hou |
| author_sort | Hanlin Sun |
| collection | DOAJ |
| description | A multi-mode grab underactuated hand is proposed for the multifunctional requirements of robot end-effector manipulator. Based on the underactuated theory， the manipulator solves the disadvantages of the traditional compound underactuated hand， such as complex structure， many control elements and weak adaptability. The structure and motion process of multi-mode grab underactuated hand are introduced， and the mathematical model of underactuated manipulator is established. According to the geometric relationship of the manipulator motion analysis and adaptability analysis， and the manipulator grab parameters range is solved. Under different grab modes， the manipulator is analyzed respectively， and the virtual work principle is used to calculate the theoretical output force. The simulation results of virtual prototype show that the manipulator does not need to install force sensor and complex control system， and it can realize two grab modes， namely， flat clip and envelope， which verifies the feasibility of the design. |
| format | Article |
| id | doaj-art-1e7afe8a544c4caeb02316147a5a7721 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-1e7afe8a544c4caeb02316147a5a77212025-01-10T14:48:15ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-08-0145909618847048Mechanism Design and Mechanical Analysis of Multi-mode Grab Underactuated HandHanlin SunYu HouA multi-mode grab underactuated hand is proposed for the multifunctional requirements of robot end-effector manipulator. Based on the underactuated theory， the manipulator solves the disadvantages of the traditional compound underactuated hand， such as complex structure， many control elements and weak adaptability. The structure and motion process of multi-mode grab underactuated hand are introduced， and the mathematical model of underactuated manipulator is established. According to the geometric relationship of the manipulator motion analysis and adaptability analysis， and the manipulator grab parameters range is solved. Under different grab modes， the manipulator is analyzed respectively， and the virtual work principle is used to calculate the theoretical output force. The simulation results of virtual prototype show that the manipulator does not need to install force sensor and complex control system， and it can realize two grab modes， namely， flat clip and envelope， which verifies the feasibility of the design.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.08.013Underactuated manipulatorMultimode grabContact force analysisVirtual work principle |
| spellingShingle | Hanlin Sun Yu Hou Mechanism Design and Mechanical Analysis of Multi-mode Grab Underactuated Hand Jixie chuandong Underactuated manipulator Multimode grab Contact force analysis Virtual work principle |
| title | Mechanism Design and Mechanical Analysis of Multi-mode Grab Underactuated Hand |
| title_full | Mechanism Design and Mechanical Analysis of Multi-mode Grab Underactuated Hand |
| title_fullStr | Mechanism Design and Mechanical Analysis of Multi-mode Grab Underactuated Hand |
| title_full_unstemmed | Mechanism Design and Mechanical Analysis of Multi-mode Grab Underactuated Hand |
| title_short | Mechanism Design and Mechanical Analysis of Multi-mode Grab Underactuated Hand |
| title_sort | mechanism design and mechanical analysis of multi mode grab underactuated hand |
| topic | Underactuated manipulator Multimode grab Contact force analysis Virtual work principle |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.08.013 |
| work_keys_str_mv | AT hanlinsun mechanismdesignandmechanicalanalysisofmultimodegrabunderactuatedhand AT yuhou mechanismdesignandmechanicalanalysisofmultimodegrabunderactuatedhand |