Constructive and intellectual improvement of socially accessible grippers of manipulators

Abstract

Innovative improvements of grippers of industrial and anthropomorphic socially accessible manipulators are considered. A generalized design of a gripper with several fingers is developed, which implements the principle of rapid variability, provides versatility, disperses the clamping force of objects in the grip. By using one type of drives in the design of the manipulator and soft and hard rods, control versatility is ensured. An analytical mathematical model of a gripper with fingers made of elastomeric elements is constructed for working with objects that require careful clamping without damage. Based on the analytical model of the stiffness of the elastomeric element as a function of relative deformation, a model in the form of a polynomial-exponential sum is formed. It is demonstrated that due to the elastomeric properties, the model is statically indeterminate. It is proposed to reduce it, taking into account information about objects and the necessary movements of the finger points to capture the object, to a system of analytical expressions of traction forces and angular and linear displacements. The example of an electric drive presents the transient processes of movement of a single finger of a multi-finger gripper. A model and structure of the gripper are presented, allowing it to be modeled and designed as a separate, quick-change module.