Abstract
To solve the lack of grasping performance caused by separate driven device installed at the end-effector of parallel grasping manipulator, a novel parallel grasping manipulator with configurable platform is presented in this paper. Firstly, the modified Grübler-Kutzbach equation is utilized to verify that the parallel grasping manipulator has 4 degree-of-freedom (DOF), including 3-DOF for plane motion and 1-DOF for grasping. Based on the link constraint equation, the input-output velocity relationship and Jacobian matrix are obtained. The workspace performance of the parallel grasping manipulator under the coupled DOFs is evaluated. Singularity analysis is studied to demonstrate the manipulator can produce ±90° large rotation angle due to kinematical redundancy. The optimum structure dimension parameters are determined by comparing workspace performance under the constraint range of each link. At last, a prototype is constructed based on the determined dimension parameters, and the experiment of motion DOFs and grasping ability are carried out. The results show that the proposed parallel grasping manipulator has good motion ability and grasping performance.
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Acknowledgements
This work was supported by the National Natural Science Foundation of China (Grant No. 52205006).
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Zhao, F., Xu, D., Jin, X., Guo, S., Xu, K. (2023). Design and Workspace Evaluation of a Novel Parallel Grasping Manipulator with Configurable Platform. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_28
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DOI: https://doi.org/10.1007/978-981-99-6489-5_28
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