Modern Manufacturing Engineering ›› 2024, Vol. 530 ›› Issue (11): 73-79.doi: 10.16731/j.cnki.1671-3133.2024.11.010

Previous Articles     Next Articles

Structural design and grasping morphology study of differential drive manipulator

WANG Binghao, SUN Longfei   

  1. School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China
  • Received:2023-12-25 Online:2024-11-18 Published:2024-11-29

Abstract: In order to solve the problem that traditional underdriven manipulators can only passively adapt to the morphology of grasping objects,a rope and Shape Memory Alloy (SMA) spring-based differential drive manipulator was proposed,which can actively control the grasping morphology of the fingers according to the characteristics of the objects to be grasped,and is more in line with the grasping characteristics of the human hand. The kinematic model of the finger was developed using the D-H method and the workspace of the finger was analyzed;the static mechanical model of the manipulator was established according to the principle of moment equilibrium,and the influence laws of the driving force of the drive rope and the equivalent stiffness of the finger joints on the grasping pattern were elucidated,and the results of the theoretical analysis were verified by ADAMS simulation;finally,the prototype was tested experimentally,and the research results show that according to the contour size of the object,the typical grasping actions such as enveloping and pinching can be accomplished by actively controlling the driving force of the drive rope and the equivalent stiffness of the finger joints,so as to realize the stable grasping of objects of different shapes and sizes.

Key words: manipulators, grasping pattern, differential drive, SMA spring, kinematics

CLC Number: 

Copyright © Modern Manufacturing Engineering, All Rights Reserved.
Tel: 010-67126028 E-mail: 2645173083@qq.com
Powered by Beijing Magtech Co. Ltd