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Design and flexible grasp control of tendon-driven mechanical gripper
Published:2023-11-01 author:XU Guangyu, TANG Qing, WANG Lixia. Browse: 367 Check PDF documents
Design and flexible grasp control of tendondriven mechanical gripper


XU Guangyu, TANG Qing, WANG Lixia

(School of Mechanical Engineering, Sichuan University, Chengdu 610065, China)


Abstract:  In order to achieve the goal of stable adaptive grasping of manipulator, it is necessary to strengthen the perceptual processing of grasping information and design a flexible force-controlled grasping algorithm. Aiming at the problem that objects of different sizes, shapes, and materials require diverse grasping postures and strengths, a tendon-driven flexible three-fingered mechanical gripper scheme and corresponding flexible grasping force control algorithm(admittance control algorithm) were proposed. Firstly, a tendon-driven flexible mechanical finger was designed, and a reciprocating winding designed tendon-driven transmission line was proposed. An actual flexible three-fingered mechanical gripper was fabricated based on this design. Secondly, the modified Denavit-Hartenberg (DH) method was used to establish the kinematic model of the flexible mechanical fingers, and the adaptive enveloping ability of the fingers was analyzed using MATLAB robotics toolbox. Then, an admittance control algorithm was designed according to the characteristics of the servo motor, and the flexible force control performance of the mechanical gripper was tested through physical program implementation and admittance control experiment. Finally, a software control platform and a physical experiment platform were built for the flexible mechanical gripper, and gripping experiments were carried out on objects of various shapes and materials to verify the stable and reliable grasping of the flexible mechanical gripper. The research results indicate that the reciprocating winding transmission line design and the corresponding flexible admittance control algorithm ensure high adaptability of grasping shape and high flexibility of grasping force when the flexible mechanical gripper faces objects of varying sizes, shapes, and materials. During the grasping process, the fingers of the flexible mechanical gripper can adaptively envelop the target object and control the grasping force smoothly through the admittance control algorithm. This enables the mechanical gripper to achieve stable and reliable grasping.

Key words: mechanical finger; tendondriven; adaptive grasping; admittance control algorithm; flexible grasping; reciprocating winding transmission line; Denavit-Hartenberg(DH)


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