Structure Andanalysis Of Flexible Joint Robot’s End-grasper

Due to the large-scale state of light industry and food industry production, to meet its complex shape, and a variety of physical properties of raw materials, semi-finished products, finished products of logistics, sorting and packaging, solve the high labor costs problem. Taking into account the cost of the manipulator, environment, labor conditions and other factors, in urgent need of adaptive flexible grasping manipulator to complete the corresponding work.. From the start of the last century, as the most flexible part of the robot-the manipulator has entered a stage of rapid development. Traditional manipulator is based on the specific environment in general, less versatility. When perform different tasks,you need to design more grasping, not only raising the cost, frequent replacement of the grasping device also reduces the efficency.For the grasped object:(a) easy to deformation and failure of soft objects (such as bread, flexible packaging materials), (b) fragile brittle objects (such as eggs), (c) irregular shape, size differences between large (melon fruit and other agricultural products) objects, (d)shaped object (shaped packaging container), (f) display of chaotic objects. The manipulator, you need to meet this grasping the requirements of wide adaptability requirements. Combination of traditional electromechanical manipulator, the need to perceive the shape of space, location, precise control of movement and the grasping force, otherwise it will damage these items or not effectively grasping. Due to higher costs, environmental requirements of the reasons usually precise control of manipulator is difficult to widely used.In this paper, the three mechanical hand structure which is using cylinder as power are proposed, the joint use of the traction rope and torsional spring combination. When rod chamber of the cylinder filled with pressured gas, Traction line pull overcome the resistance of finger joints’ torsion spring, fingers began to stretch; when the rod chamber is in touch with the atmosphere, the traction ropeto relax, by the function of the traction spring, fingers began to bend; by the action of the traction spring, fingers grasp objects.Established the relationship between the angular displacement and the manipulator parameters, the static model of simulation by three styles of manipulator modeling. The gripping force changed minimum as the optimization objective, optimize the structure of the manipulator and the spring parameters by grasping different diameter of apple. The rope traction refers to the joint initiative to extend the kinetic model is established, the use of pressure and gas-liquid composite driven for dynamic simulation of the joint angular displacement and angular velocity.The structure of manipulator with two joints two figures and the structure of manipulator with three joints three figures and spring parameters have the similar optimization results. The structure of manipulator with six joints three figures grasping apple’s force change is less than the above two manipulators. The two driven modes, gas-liquid composite driven joint reaction time is more shorter, joint angular velocity of the vibration period is more shorter too.Six joints three figures of manipulator is best when grasp different size diameter of apples, with the supple adaptability. Comparative analysis of two drivers, the gas-liquid composite driven way of joint initiative to extend delay time is considerably shorter than in the pressure-driven approach, the rigidity of system has also been improved, reducing the joint vibration amplitude, and accelerating amplitude delay, the movement more stable.