Investigation of the mechanics of the grappling circuits of robotic manipulators for adaptive uniform gripping objects

Abstract

There are many designs of robotic manipulator grippers. In this work, a study of adaptive gripping schemes for objects with a spherical shape was carried out. To evaluate the grip, pressure sensors are used, installed on the phalanges of the “fingers” of the grip, the values of which are preset in a certain range. However, there is no universal sensor that responds optimally to the entire range of pressures from very high to minimal values. Therefore, each such pressure sensor has its own range of values; they correspond to the nominal operating mode of the sensor. The European Union has established standards for fruits and vegetables. The shape of these products is approximately spherical, with some slight variations in shape in lemons and oblong tomatoes. The mechanical properties of apples, pears and tomatoes, etc. were also measured. That is, for each type of such product there must be a specific sensor with a specific small range of force changes. In addition, the gripper must, when in contact with the object with all its “fingers,” create equal forces for uniform grasping. To investigate this, grips with flexible traction elements, having several phalanges on the fingers and having an adaptation to the surface of the fetus in their structure, are analyzed here.