Structural design and optimization of modular underactuated multi-fingered manipulator

In order to improve the configuration diversity and flexibility of the manipulator jaw, a kind of modular under-actuated multi-finger manipulator claw is proposed, which is mainly composed of modular fingers, indexing mechanism and drive mechanism. The jaw can be configured with different numbers and configurations of fingers according to the work requirements, and the finger positioning mechanism is designed to improve the adaptability of the grasping action. The three-dimensional model of the manipulator jaw is established, and the kinematics simulation is carried out to study the motion characteristics of the fingers mechanism. Besides, the paper analyze the influence of each component in the fingers on the fingers movement and optimize the design of the sensitive components. According to the D-H method, the mathematical model of the fingers is established, and the forward kinematics analysis of the manipulator jaw is performed, and the working space of the jaw is simulated and verified. Optimized analysis by the modular fingers of the opponent's jaw expands the working space of the jaw and improves the operating efficiency of the entire gripper.