Guideline and design of a six-dimensional constraint gripper

Hong Liu, Jun Wu, S. Fan, Zhiqi Li, M. Jin
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引用次数: 1

Abstract

This paper presents the guideline and mechanical design of a six-dimensional constraint gripper. A state vector is firstly defined to represent the position/orientation misalignment. After analysising three basic geometric constraint methods from the point of caging and immobilizing, we propose a reliable six-dimensional constraint gripper design guideline. The mechanical design is conducted with the guideline, consisting of four elementary constraint components. They constrain the relative mobility step by step. At last, simulation results verify that the gripper can effectively constrain the six-dimensional mobility gradually.
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六维约束夹持器的导则与设计
介绍了一种六维约束夹持器的工作原理及机械结构设计。首先定义一个状态向量来表示位置/方向不对准;从夹持和固定的角度分析了三种基本的几何约束方法,提出了一种可靠的六维约束夹持器设计准则。根据该准则进行机械设计,该准则由四个基本约束分量组成。它们逐步限制了相对流动性。最后,仿真结果验证了夹持器能有效地逐步约束机器人的六维移动能力。
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