国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

Aiming at the problems of an existing modular under-actuated three-finger manipulator with imperfect structural features, achievable grasping tasks, and limited bearing capacity, a spring passive adaptive finger mechanism was designed. According to the structure of the under-actuated finger, the size of the component, the driving law and the relative relationship between the components, a kinematic model was established by using the D-H coordinate method with a single finger as an example. Kinematics simulation of the two grasping configurations of the under-driven hand using ADAMS software verifies the rationality of the structural design. Under the premise of satisfying the accuracy of the kinematics model, a grasping configuration was selected, with the goal of minimizing the stress on the fingers connected to the central sliding plate, and parameter optimization of the length and swing angle of the push rod inside the base knuckle , Effectively enhance the diversity of under-actuated hand grasping, and provide a reliable theoretical basis for the design and research of the manipulator.