Huang Mingxian, Lu Qinghua, Chen Weilin, Qiao Jian, Chen Xingyao
School of Mechatronics Engineering, Foshan University, Foshan 528000, China.
Rev Sci Instrum. 2019 Apr;90(4):045122. doi: 10.1063/1.5088439.
This paper proposes a novel compliant underactuated gripper with multiple working modes. Based on the pseudo-rigid-body method, a static analysis of different working modes is carried out, establishing an analytical relationship between the output grasping forces and the input load. For the enveloped grasping mode, an algorithm to determine the static equilibrium position is given. Furthermore, a parametric optimization algorithm based on gradient descent is designed to obtain the maximum grasping forces. The effectiveness of the multiple grasping modes, the grasping force models, and the optimization algorithm are verified by a dynamic simulation package and finite element analysis as well as by experimental tests. Finally, various grasping experiments are conducted to further validate each working mode, the stability of grasping, and the ability to protect fragile objects.
本文提出了一种具有多种工作模式的新型柔顺欠驱动抓手。基于伪刚体方法，对不同工作模式进行了静态分析，建立了输出抓取力与输入负载之间的解析关系。对于包络抓取模式，给出了确定静态平衡位置的算法。此外，设计了一种基于梯度下降的参数优化算法以获得最大抓取力。通过动态仿真软件包、有限元分析以及实验测试验证了多种抓取模式、抓取力模型和优化算法的有效性。最后，进行了各种抓取实验以进一步验证每种工作模式、抓取的稳定性以及保护易碎物体的能力。
