Study the evaluation of underactuated robotic gripper

Abstract

In this paper, a newly developed underactuated gripper robotic gripper is designed and fabricated and is tested and simulated by the optimal force. This kind of robot gripper can adapt the grasped object depending on shape and output grasping force. This model has created a linkage-based parallelogram mechanism to include kinematic and contact constraints. Geometric optimization of three phalanges underactuated fingers is presented based on a Finite Element analysis technique. Multi-objective optimization is used for evaluating finger parameters that were associated with link position, grasping equilibrium, and contact force. All optimal parameters of the mathematical models are obtained by using Ansys software. In order to test the optimum force of the finger, a wide range of contact positions was selected, and found exact position different grasping shapes. In this experiment, the grasping force is measured and compared with numerical results. The results obtained by both simulation and experiments exhibit a good correlation with the analytical results.