Design and Research of Fingertip Self-locking Underactuated Manipulators

doi:10.12068/j.issn.1005-3026.2024.07.010

Abstract

Abstract:

The underactuated manipulator has the advantages of simple structure， low cost， easy control and strong adaptive ability. However， the underactuated manipulator relies on mechanical limit and spring constraint to complete the grasp， resulting in poor grasping stability and inability to output greater fingertip grasping forces. Accordingly， a new underactuated three?finger manipulator with fingertip self?locking is proposed. The distal knuckle and middle knuckle can self?lock when grasping， which increases the grasping stability. At the same time， the D-H kinematic model of the single finger is established， the working space of the manipulator is analyzed by MATLAB， the finger is analyzed by statics， the manipulator is simulated by ADAMS software， and finally the grasping test is carried out. The results show that the self?locking manipulator can output greater grasping forces. Thus， the rationality and feasibility of the structure of the self?locking manipulator are verified.

Key words: manipulator, fingertip self?locking, underactuation, force analysis, grasping test

CLC Number:

TP 391

Li-xin GUO, Ze-hao LI, Ming-yang ZHAO. Design and Research of Fingertip Self-locking Underactuated Manipulators[J]. Journal of Northeastern University(Natural Science), 2024, 45(7): 984-991.

Figures/Tables 17

Fig.1 Finger structure

Fig.2 Fingertip self?locking process

Fig.3 General assembly drawing of the manipulator

Fig.4 Coordinate diagram of the finger joint

Table 1 Finger D-H parameters

关节号i	$a i - 1 ∕ m m$	$α i - 1 ∕$ （°）	$d i ∕ m m$	$θ i ∕$ （°）
1	0	90	$l 0$	$θ 1$
2	0	-90	0	$θ 2$
3	$l 1$	0	0	$θ 3$
4	$l 2$	0	0	$θ 4$
5	$l 3$	0	0	0

Table 1 Finger D-H parameters

关节号i	$a i - 1 ∕ m m$	$α i - 1 ∕$ （°）	$d i ∕ m m$	$θ i ∕$ （°）
1	0	90	$l 0$	$θ 1$
2	0	-90	0	$θ 2$
3	$l 1$	0	0	$θ 3$
4	$l 2$	0	0	$θ 4$
5	$l 3$	0	0	0

Fig.5 Working space of the manipulator finger

Fig.6 Static model of the underactuated finger

Fig.7 Finger movement simulation

Fig.8 Biarticular movement angles

Fig.9 Envelope grasping simulation

Fig.10 Envelope grasping joint angle and knuckle

Fig.11 Fingertip grasping simulation

Fig.12 Prototype manipulator

Fig.13 Underactuated manipulator control system

Fig.14 Manipulator envelope grasping

Fig.15 Manipulator’s envelope grasping contact force

Fig.16 Different object grasping experiments

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