Interactive Force Feedback Gripper Designbased On Virtual Prototype Technology

As the end actuator of the robot when it grabs objects, gripper has been widely used in various fields of manufacturing industry. How to control the gripping force effectively is one of main consideration in the design process of the gripper. Because this gripper system not only contains the traditional mechanical design, but also contains computer control, sensor signal fusion and other multi-disciplinary knowledge, the traditional design method cannot meet design requirement. For this kind of demand, this paper designs a kind of gripping device by using virtual prototyping technology. Specific works are as follows.First, the 3D model of the interactive force feedback gripper is established by using 3D software Solidwork. And this model will be used for simulation, manufacturing, and analysis.Second, based on ANSYS finite element analysis, the optimization method of pressure sensor installation location is proposed. ANSYS software is employed to analyze the static and mode of the key parts of gripper.Third, the electromechanical integrated simulation of virtual prototype for interactive force feedback gripper is finished on the basis of ADAMS and MATLAB. The validity and feasibility of the proposed scheme are verified.Finally, based on the virtual prototype design, the mechanical model of entity and the control circuit are manufactured. Then, the physical prototype is realized, and the performance is tested.