A Comprehensive Theory Study Of Finger Mechanisms With Flexible Units

The planar mechanism has a simple structure,is easy to operate and control,and is widely used in industrial production and medical machinery.This paper conducts a comprehensive study on the topological graph configuration synthesis of planar closed-loop kinematic chains,and constructs a series of finger mechanism prototypes,which enriches the theoretical basis of finger mechanisms including flexible unit components.First of all,based on related theoretical knowledge such as graph theory,the topological embryo graph is modified,and binary links are added to construct a digital topological graph.The feature string method is used to determine the isomorphism of the digital topological graph to obtain an effective digital topological graph.Then,the isomorphic graph is further judged,and the digital topology graph that is actually invalid is removed.Adopt the adjacency matrix judgment method for the effective digital topological graph,calculate all possible kinematic chains,and perform validity judgment to obtain all effective kinematic chain combinations.Secondly,according to the effective digital topological diagram and related configuration synthesis principles and methods,single-and multi-finger mechanisms of single-degree and multi-degrees of freedom are further studied,and a large number of single-degree and multiple degrees of freedom rigid bionic operating mechanical finger mechanisms are constructed with one-bend,two-bend and three-bend gripping characteristics.Thirdly,the flexible link unit is introduced into the rigid topology diagram,the equivalent topology diagram of the flexible link unit is proposed,and the corresponding criterion for determining the validity of the kinematic chain is formulated.Based on the structural synthesis of the planar topological graph,the structural synthesis research and design of the topological graph with single and multiple flexible elements is carried out,and the different cambers of finger mechanisms with single and multiple flexible elements are constructed with good adaptability.Finally,based on the existing rigid and flexible unit finger mechanisms,the CAD variable geometry method is used to verify the degrees of freedom,and then the motion characteristics are simulated and analyzed by the Matlab / Simulink module,which prove that it is reliable to the configuration synthesize of the flexible finger mechanism based on the equivalent topology graph theory with flexible elements and its corresponding effective kinematic chain method.