Design and Analysis of a Dexterous Gripper Based on Flexible Parallel Continuum Manipulator

Design and Analysis of a Dexterous Gripper Based on Flexible Parallel Continuum Manipulator

A new four-degree-of-freedom parallel continuum manipulator is presented, which was combined with a cable-driven gripper to improve the performance of dexterous grasp. This manipulator is approximately equivalent to the traditional rigid link parallel mechanism by complaint branch equivalent method,...

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Veröffentlicht in:Ji xie gong cheng xue bao 2020, Vol.56 (19), p.122
Hauptverfasser: Peiyi, WANG, Sheng, GUO, Xiangyang, WANG, Majun, SONG, Huajie, LIN
Format: Artikel
Sprache:chi ; eng
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Equivalence
Kinematics
Parallel degrees of freedom
Performance enhancement
Screw theory
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container_issue 19
container_start_page 122
container_title Ji xie gong cheng xue bao
container_volume 56
creator Peiyi, WANG
Sheng, GUO
Xiangyang, WANG
Majun, SONG
Huajie, LIN
description A new four-degree-of-freedom parallel continuum manipulator is presented, which was combined with a cable-driven gripper to improve the performance of dexterous grasp. This manipulator is approximately equivalent to the traditional rigid link parallel mechanism by complaint branch equivalent method, and the degree of freedom analysis of the manipulator is performed by using the screw theory. The classic Cosserat Rod model is applied to model the kinematics of the continuum manipulator. By comparative analysis among three types of parallel continuum manipulator, the proposed manipulator can provide an additional torsional movement which make the gripper grasp the object more flexibly. Based on this, a simulation example of dexterous grasp is given. Finally, experiments verify the degree of freedom and kinematics of the manipulator and the performance of flexible grasping of the gripper.
doi_str_mv 10.3901/JME.2020.19.122
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subjects Equivalence
Kinematics
Parallel degrees of freedom
Performance enhancement
Screw theory
title Design and Analysis of a Dexterous Gripper Based on Flexible Parallel Continuum Manipulator
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