Modeling and Simulation of Manipulator Grasping Based on Underactuated Mechanism

Qiu Ying; Bing Rao

doi:10.4028/www.scientific.net/AMR.433-440.2726

Paper Titles

The Simulation of Tow Ship Noise on Towed Linear Array
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Fuzzy Mathematical Safety Evaluation of Coal Mine Gas Accident
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Numerical Heat Transfer Analysis of Flake Ice Storage System with Nanofluids
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The Design of Spectrum Analysis System on Ultrasonic Based on DSP
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Modeling and Simulation of Manipulator Grasping Based on Underactuated Mechanism
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Study on Inventory Management System Dynamics Model of Successive Manufacturing Enterprises
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New Distance Definitions of Fuzzy Numbers
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ABS Road Surface Fuzzy Discrimination Based on Normal and Exponential Distribution
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Test Validation Analysis Based on Fuzzy Assessment
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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 433-440Modeling and Simulation of Manipulator Grasping...

Modeling and Simulation of Manipulator Grasping Based on Underactuated Mechanism

Abstract:

The theory and drive mode of the underactuated robot grasper have been researched in this paper, and the mechanism has been designed and optimized. The research has been done on statics, dynamics and kinematics. 3D models for all parts are built and entity model of the underactuated grasper is created. The simulation has been completed on dynamics and kinematics of the grasper grasp different object (as staff, ball, rod).