Study On A New Type Of Manipulator

In recent years, infrastructure construction and manufacturing developed rapidly in China with increased workers engaged in these fields. The use of large machinery and equipment brought higher productivity, but also brought more unsafe factors. The cases of hand injury caused by industrial accidents were quite common. Although intelligent artificial limb provided the functions of nature hands, it is too expensive to be afforded by ordinary workers' families. Therefore, developing a manipulator with low price and simple structure which meets the daily needs of finger-disabled group is important to change the disabled group status.The advantages and disadvantages of the current domestic and international were analyzed by studying the state of art of the manipulator. On the basis of studying the rigid manipulator and the flexible manipulator, two design methods were proposed,which are the rigid connecting rod mechanical finger and the tubular flexible hinge mechanical finger.Rigid connecting rod mechanical finger is composed of a series of rigid parts,which had only one degree of freedom and was easy to be manufactured with simple structure. The finger's movement trajectory and speed curve was given by using UG software to build the model of the finger parts and simulated by ADAMS software for kinematic analysis. Through the above methods, we can modify the model according to the needs. The geometric position relationship of each part of the finger movement was obtained by analytical calculation. The analysis and physical production proved that the finger can complete flexion and extension movements that meet the daily needs for finger deformity.Tubular flexible hinge mechanical finger is a kind of new flexible finger. The nonlinear relationship between the force and deformation of the flexible hinge was obtained by the mechanical analysis and experimental comparison of the tubular flexure hinge. The tubular flexible hinges with double openings in different shapes were presented and the bending stress state was simulated by ANSYS. The results showed that the shape and depth of the double-opening tubular flexible hinge had a great influence on the bending state of the mechanical finger.