Structure optimization and motion analysis of  a new type grasping robothand

WANG Luozhi， TANG Yue， ZHAO Quanling

（College of Electromechanical Engineering, Qingdao University of Science and Technology,
Qingdao 266061,China）

Abstract: Aiming at the problem of asymmetric deformation and large deformation degrees of green tire during robot hand grasping green tire, the important factors influencing the deformation of green tire in taking process were researched, the inner bracing method was proposed. Staring form the dynamic parameters design of robot hand, the structure of the robot hand was optimized under the work requirement, motion analysis and contact force analysis were made for innerbracing mechanism by means of ADAMS software in the process of grasping tire, the stress analysis and deformation analysis of the green tire were made by the finite element flexible analysis method, the simulation results were compared and verified. The results indicate that: the new type of grasping tire robot hand meets the requirements and the influence on the deformation of the green tire is smaller than the traditional tire grasping robot hand.

Key words: grasping tire robot hand; structure optimization; green tire deformation