Open AccessDesign and analysis of cable-driven mechanical gripper for complex manipulation
Author(s) -
Deyang Zhang,
Bo Cheng,
Zhiyong Yue
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1601/2/022048
Subject(s) - grasp , kinematics , mechanism (biology) , grippers , object (grammar) , computer science , torque , rotation (mathematics) , engineering , mechanical design , mechanical engineering , control engineering , artificial intelligence , physics , classical mechanics , quantum mechanics , thermodynamics , programming language
This paper studies the design and analysis problem of a class of cable-driven mechanical gripper for complex object manipulations. More precisely, a new structure design of mechanical gripper with cable-driven mechanism is first proposed with details for effective object grasping. In addition, an effective method is developed to prevent overload of axial rotation torque of the gripper. Based on the designed gripper, the kinematic analysis is then carried out and the caging grasp analysis is shown.