Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism
Based on the characteristics of the link structure and the rope pulley structure, a new reverse rope-pulley mechanism is proposed. The principle and motion characteristics of the new mechanism are introduced, and the structure of a three-knuckle manipulator with new mechanism for bag grabbing is des...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-12-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.009 |
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| author | Piao Jinsheng Zhang Jianchuan Pan Wei Ge Yunfeng Lu Changhou |
| author_facet | Piao Jinsheng Zhang Jianchuan Pan Wei Ge Yunfeng Lu Changhou |
| author_sort | Piao Jinsheng |
| collection | DOAJ |
| description | Based on the characteristics of the link structure and the rope pulley structure, a new reverse rope-pulley mechanism is proposed. The principle and motion characteristics of the new mechanism are introduced, and the structure of a three-knuckle manipulator with new mechanism for bag grabbing is designed. Firstly, the static analysis of the three-knuckle manipulator is carried out based on the method of equilibrium of plane forces. The accuracy of the static analysis is verified by Adams statics simulation, and the characteristic of higher force conversion rate is verified by the comparison and simulation with the link structure and rope pulley structure. Secondly, simplified modeling, kinematic envelope grasping simulation and static grasping contact force simulation are carried out for the three-knuckle manipulator. The mobile envelope grasping ability of the three-knuckle manipulator is shown by the simulation results. However, the disadvantage of uneven contact force distribution needs to be optimized for the current design. |
| format | Article |
| id | doaj-art-2e47da026d6949ff910a4d88e2ca0984 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-12-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-2e47da026d6949ff910a4d88e2ca09842025-01-10T14:59:33ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-12-0147606846660327Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley MechanismPiao JinshengZhang JianchuanPan WeiGe YunfengLu ChanghouBased on the characteristics of the link structure and the rope pulley structure, a new reverse rope-pulley mechanism is proposed. The principle and motion characteristics of the new mechanism are introduced, and the structure of a three-knuckle manipulator with new mechanism for bag grabbing is designed. Firstly, the static analysis of the three-knuckle manipulator is carried out based on the method of equilibrium of plane forces. The accuracy of the static analysis is verified by Adams statics simulation, and the characteristic of higher force conversion rate is verified by the comparison and simulation with the link structure and rope pulley structure. Secondly, simplified modeling, kinematic envelope grasping simulation and static grasping contact force simulation are carried out for the three-knuckle manipulator. The mobile envelope grasping ability of the three-knuckle manipulator is shown by the simulation results. However, the disadvantage of uneven contact force distribution needs to be optimized for the current design.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.009Underactuated mechanismCable-drivenStatic analysisKinematic simulationStatic simulation |
| spellingShingle | Piao Jinsheng Zhang Jianchuan Pan Wei Ge Yunfeng Lu Changhou Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism Jixie chuandong Underactuated mechanism Cable-driven Static analysis Kinematic simulation Static simulation |
| title | Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism |
| title_full | Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism |
| title_fullStr | Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism |
| title_full_unstemmed | Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism |
| title_short | Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism |
| title_sort | structure design and static analysis of the underactuated three knuckle manipulator with a reverse rope pulley mechanism |
| topic | Underactuated mechanism Cable-driven Static analysis Kinematic simulation Static simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.009 |
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