Design and Analysis of a Dexterous Gripper Based on Flexible Parallel Continuum Manipulator

被引：0

作者：

Wang P. ^{[1
]}

Guo S. ^{[1
]}

Wang X. ^{[1
]}

Song M. ^{[1
]}

Lin H. ^{[1
]}

机构：

[1] School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2020年 / 56卷 / 19期

关键词：

Cosserat Rod model; Flexible grasp; Gripper; Kinematic manipulability; Parallel continuum manipulator;

D O I：

10.3901/JME.2020.19.122

中图分类号：

学科分类号：

摘要：

A new four-degree-of-freedom parallel continuum manipulator is presented, which was combined with a cable-driven gripper to improve the performance of dexterous grasp. This manipulator is approximately equivalent to the traditional rigid link parallel mechanism by complaint branch equivalent method, and the degree of freedom analysis of the manipulator is performed by using the screw theory. The classic Cosserat Rod model is applied to model the kinematics of the continuum manipulator. By comparative analysis among three types of parallel continuum manipulator, the proposed manipulator can provide an additional torsional movement which make the gripper grasp the object more flexibly. Based on this, a simulation example of dexterous grasp is given. Finally, experiments verify the degree of freedom and kinematics of the manipulator and the performance of flexible grasping of the gripper. © 2020 Journal of Mechanical Engineering.

引用

页码：122 / 131

页数：9

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