Enveloping grasp planning of a three-fingered deployable metamorphic robotic grasper

摘要

This paper takes a three-fingered deployable metamorphic robotic grasper as the studied object and presents a novel enveloping grasp planning method, by which the robotic grasper can grasp objects with different sizes and shapes more effectively and stably. Firstly, the mechanism design and key performances of the robotic grasper are briefly introduced. Secondly, the static analysis of the grasping motion process is conducted and the factors affecting static equilibrium are also analyzed, based on which the mathematical model of static equilibrium is established, and the relationship between grasping force and grasping posture is obtained. Then, an optimization model of static enveloping grasp with the grasping angle as the variable is proposed, by which the best grasping posture can be obtained. Thirdly, to prove the effectiveness of the proposed enveloping grasp planning method, a group of grasping simulations is performed and the results show that this method is feasible and reliable.