Mechanical design and force perception of two fingered compliant gripper
To grasp the target parts of diverse shapes and adjust the grip force of manipulator in the industrial field,a compound-driven two finger compliant gripper with force perception was designed.Based on the principle of human finger joint grasping with two fingers,the grasping characteristics of irregular object contour were analyzed,and a compound driven two finger compliant gripper structure was proposed.According to the driving characteristics of the compliant gripping hand and the control requirements of the gripping force,the hybrid driving mode of the com-bination of air cylinder and stepping motor was adopted,and the feedback of the gripping hand force sensor was combined to realize the envelope fitting and grasping of the irregular shape target parts.The prototype of the de-signed home-made compound-driven two finger compliant gripper was carried out and verified by force sensing grasping.The adjustment range of the angle of the root joint of the gripping hand was-15°～15°,and the test er-ror of the gripping hand force sensor was about 5％.The gripping hand structure provided reliable technical support for accurately gripping target parts with diverse shapes,and also provided theoretical reference for the design of the multi-finger gripping hand mechanism and the research on gripping force perception.
two fingerscompliant gripperindexable finger rootgripping force control
万方数据
维普
