Grasping Simulation of Linkage Underactuated Mechanical Finger

doi:10.16182/j.issn1004731x.joss.17-0054

Abstract

Abstract: For verifying the design rationality and the property of a linkage underactuated finger, Solidworks is utilized to simulate the grasp operation of the finger with some different objects at the different positions. The simulations can be used to analyze the grasping range, the underactuated characteristic, the uniformity of grasp motion and the mechanical property. The finger mechanism contains springs that brings adaptive grasp capability of different objects. The results show that the finger can make suitable capability for grasping the objects whose size can vary from 0.106 to 0.851 times of the finger length. And the finger can give fivefold grasping force of general human by using the small electromotor. Through the simulations, the effectiveness and performance of the finger is analyzed and verified.

Key words: mechanical finger, underactuated mechanism, grasping simulation, solidworks

CLC Number:

TP24

Li Xiali, Lan Tianyi, Wu Licheng. Grasping Simulation of Linkage Underactuated Mechanical Finger[J]. Journal of System Simulation, 2019, 31(1): 81-86.

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