Abstract
Graspers are primarily applied to grasp or hold objects in engineering. To study the design model of graspers, various methods have been suggested, which can be divided into two types basically, the bionic mechanical grasper and the grasper made of soft materials. However, the design models of the above two types feature multiple degree-of-freedom, difficult in control, uneven grasping force or specific requirements on the object's properties. A new design model of simulated “soft” mechanical grasper is developed in this paper. Different from the existing graspers, this grasper, composed of rigid mechanical structures, is able to drive and control with single-degree-of-freedom and automatically self-adapts to object's shape with uniform grasping force. And the scale of transmission mechanism of knuckle unit of the grasper is calculated. Through the grasping experiments of typically fragile and deformable objects, the design model is verified to be effective.
Published Version
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