Structural Design and Analysis of an Adaptive Manipulator

Abstract In view of the fact that the existing special manipulator is difficult to meet the requirements, and the universal full-drive multi-finger dexterous manipulator has the shortcomings of complex control and relatively poor reliability, this paper designs a manipulator with simple structure, few driving components, strong adaptive ability, and flexible, stable and fast grasp of objects of different complex shapes. The adaptive manipulator underdrive finger adopts a bionic design, which is composed of a rotary wrist joint, condylar MP joint, intermediate PIP joint, and terminal DIP joint, mixed transmission with gear and tendon rope, with the interaction ability of outer rigidity and inner flexibility, which can realize adaptive envelope grasping and pinching.