Abstract
The humanoid end effector has a better performance when grabbing irregular objects. Compared to a full-drive dexterous robot hand, the underactuated gripper has a more compact structure, simpler control, and good self-adaptive ability, it can be applied to different shapes of objects. However, in some cases, improper design will lead to uneven grasping force, and it will not be able to grasp firmly or even have ejection phenomenon. So the optimization of the geometrical parameters is of great importance. In this paper, according to the designed three-degrees-of-freedom link-type underactuated manipulator, the mechanical model under grasping state is deduced by the principle of virtual work. Setting the average degree of grasping force as the optimization goal, the size and angle of pressure have been optimized by using MATLAB genetic algorithm toolbox and several suitable results have been obtained.
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