Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism
Based on the characteristics of the link structure and the rope pulley structure,a new reverse rope-pulley mechanism is proposed.The principle and motion characteristics of the new mechanism are intro-duced,and the structure of a three-knuckle manipulator with new mechanism for bag grabbing is designed.Firstly,the static analysis of the three-knuckle manipulator is carried out based on the method of equilibrium of plane forces.The accuracy of the static analysis is verified by Adams statics simulation,and the characteristic of higher force conversion rate is verified by the comparison and simulation with the link structure and rope pulley structure.Secondly,simplified modeling,kinematic envelope grasping simulation and static grasping contact force simulation are carried out for the three-knuckle manipulator.The mobile envelope grasping ability of the three-knuckle manipulator is shown by the simulation results.However,the disadvantage of uneven contact force distribution needs to be optimized for the current design.
NETL
NSTL
万方数据
维普
