Jixie chuandong (May 2022)
Structure Design and Optimization of Self-locking Under-actuated Gripper
Abstract
In order to avoid frequent replacement of fixtures to the robot due to the clamping of disc type workpieces of various varieties and sizes on automated production lines， and improve the stability and safety of robot clamping， a self-locking under-actuated gripper is designed and optimized. The structure design of the gripper is completed based on the under-actuated principle， and the feasibility of structural self-locking and enveloping clamping is ensured through the analysis of the clamping configuration and clamping process. According to the principle of virtual work and the vector closed equation of the linkage mechanism， a static modeling under the adaptive gripping state of the gripper is constructed. A structural parameter optimization model is established according to the balance of the clamping force of each gripper knuckle， and a genetic algorithm is introduced to realize the parameter optimization. Numerical test results show that， compared with the empirical method and the Fmincon algorithm， the target value error optimized by the genetic algorithm is reduced by 70% and 62.5%， and the maximum deviation of the gripper's clamping force is reduced by 78.3% and 61.4% respectively， which verifies the superiority of the genetic optimization design of the proposed under-actuated gripper， and satisfies the stable clamping requirement of the clamper through the balance of the knuckle forces.
