Design and Research of a New Underactuated Manipulator.

The manipulator is an important part of the robot to perform tasks efficiently, and the underactuated manipulator has attracted attention because of its low cost and easy maintenance. This paper mainly designs and analyzes the structure of the rod-wheel transmission coupled adaptive robot hand, and proposes the coupled adaptive grasping mode (CO-SA). This mode combines the functions of grasping and adaptive envelope, without the movement of the manipulator palm, the manipulator automatically rotates the second knuckle and wraps various objects of different sizes and shapes, expanding the range of objects that can be grasped. The grasping simulation of underactuated manipulator in Adams software, and the experiment proves that the designed robotic hand coupling adaptive grasping ability can perform the grasping task more efficiently and stably than the traditional manipulator.