Open AccessResearch on an under- actuated bionic manipulator
Author(s) -
Binghui Wu,
Tong Qiu,
Yuhan Chen
Publication year - 2021
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 - 10.1088/1742-6596/1885/4/042059
Subject(s) - manipulator (device) , engineering , control theory (sociology) , simulation , computer science , control engineering , mechanical engineering , artificial intelligence , robotic arm , control (management)
Through the analysis and statistics of the calcaneus angle of deer, horse and other cloven-toed animals, the appropriate manipulator configuration is selected. This paper proposes an under-actuated bionic manipulator to assist astronauts in space welding tasks. The motion simulation of the manipulator was carried out utilizing ADAMS, and the relationship curve of the angular velocity at each joint of the under-actuated bionic manipulator was obtained. Through curve analysis, it is not difficult to see that the design of the fingertip spring bar is the key to ensuring the reliable operation of the bionic manipulator.