The underactuated manipulator has the advantages of simple structure,low cost,easy control and strong adaptive ability.However,the underactuated manipulator relies on mechanical limit and spring constraint to complete the grasp,resulting in poor grasping stability and inability to output greater fingertip grasping forces.Accordingly,a new underactuated three-finger manipulator with fingertip self-locking is proposed.The distal knuckle and middle knuckle can self-lock when grasping,which increases the grasping stability.At the same time,the D-H kinematic model of the single finger is established,the working space of the manipulator is analyzed by MATLAB,the finger is analyzed by statics,the manipulator is simulated by ADAMS software,and finally the grasping test is carried out.The results show that the self-locking manipulator can output greater grasping forces.Thus,the rationality and feasibility of the structure of the self-locking manipulator are verified.
manipulatorfingertip self-lockingunderactuationforce analysisgrasping test
维普
万方数据
