Design of manipulator structure

From the structure diagram below, we can know that the power manipulator is mainly composed of two slider mechanisms. The drive system drives the axial movement of the hand connecting the power manipulator, and the two slider mechanisms change the axial movement into the opening and closing of the power manipulator. Then, the gripper mechanism is used to clamp the target object to achieve the goal.

Sketch of hand structure

The scheme of hand clamping has been determined. Let's ***yze the specific movement form of the specific parts of the hand in the clamping process. From the figure below, we can easily see that the axis connecting the finger moves axially, the slider moves along the chute with the axial movement, and the finger swings around the central point connecting the finger. This series of movements together to complete the manipulator clamping movement.

Sketch of hand movement

In order to ***yze the stability of the hand when picking objects, we need to do an ***ysis on the force when the hand fingers pick up articles. It can be seen from the figure below (the force diagram of the clamping device), ignoring the friction force and other resistance, the main forces on the object when the hand is picking up the object are the contact force F1, F2, F3, F4 and the gravity g of the object itself.

Stress diagram of clamping device