关键词: 绳牵引夹持器, 刚柔结合, 多模式抓取, 静力学建模

Abstract: It is difficult for the gripper to stably grip special-shaped objects with complex contours.To solve this problem and improve the adaptability and protective grasping ability of the gripper,a cable-driven rigid-flexible gripper with cable drive system and flexible hinge structure was designed.The cable path of the gripper was designed to realize the conversion between various grasping modes.On the basis of the load balance equation,the static model of the two grasping modes was carried out,the mechanical model between the input force and the output clamping force was obtained.The correctness of the mechanical model and the grasping performance of the gripper were verified through numerical simulation and physical experiments.The grasping experiments were carried out on grasped targets with different geometric shapes and different stiffness,which verified the ability of adaptive and protective for the gripper.

Key words: cable-driven gripper, rigid-flexible combined, multi-mode grasping, statics modeling