Design of Rope-Driven Manipulator with Three Fingers

Aiming at the problems of complex structure, heavy weight and difficult manufacturing of manipulator, a design scheme of rope-driven three-fingered manipulator is proposed based on bionics principle to meet different functional requirements. The actual motion of the manipulator is controlled by the cable drive and the bending of the distal knuckle is realized by coupling connection. The three-dimensional solid model of the manipulator is established by using the design software, and the motion simulation analysis of the solid model is carried out to obtain its motion law. The results of motion analysis show that the speed of the manipulator changes smoothly in the motion process, and the change of speed has little effect on the stability of the objects grasped by the manipulator. Finally, a prototype of the manipulator is made according to the design results. The prototype model can be used not only in practical teaching, but also in theoretical research. It can provide some reference for the practical application of multi-fingered and multi-joint manipulators.