A finger mechanism of underactuated manipulator and its kinematics analysis based on principle of metamorphic mechanism

Inhalt:
Although the traditional robot end-effector has the characteristics of simple manufacturing, convenient control, strong load capacity and high reliability, it is only applicable to a small number of objects of specific shape, lacking versatility, and cannot meet the requirements of multi-task and high adaptability. Therefore, how to solve the contradiction between manipulator freedom degree, driving mode, weight, flexibility, grasping ability and reliability has become a key problem in the development and development of the new manipulator. Aiming at this problem, the underactuated mechanism based on the principle of metamorphic mechanism as a new idea of manipulator design has attracted keen attention. In this paper, a kind of manipulator finger mechanism based on the principle of metamorphic mechanism is proposed, and its equivalent mechanism is deduced under different grasping states (i.e. different contact conditions with the target object), and then the method of kinematic analysis based on the equivalent mechanism is proposed. Based on the proposed method, the kinematics equation is derived. Finally, the correctness and effectiveness of the method are verified by numerical simulation analysis with Matlab software. The simulation results show that the proposed manipulator finger mechanism based on the principle of metamorphic mechanism has a large reachable space and can grasp objects well.