Analysis of adaptive flexibility of three-finger manipulator with six-joint for grasping apple

作者：Zhang Jun^*

来源：Transactions of the Chinese Society of Agricultural Engineering, 2010, 26(1): 140-144.

DOI：10.3969/j.issn.1002-6819.2010.01.024

• Air pressures
• Artificial muscle
• Elastic coefficient
• Hinge joints
• Manipulators robot
• Preloads
• Pressure feedback
• System pressure
• Torsion Springs

In order to meet the need of all grasp for larger or small apples. A smart manipulator of three-finger with six-joint for grasp of apple was proposed. Three fingers were symmetrically fixed around circle. Each finger was with two hinge joints and driven by one piece of axial expanse artificial muscle. The equation between air pressure and grasp force was created. The elastic coefficients and preload angles of two torsion springs were obtained by global optimization. The results of calculation indicated that grasp load for larger or small apples under a setting system pressure did not damage the largest section apple without pressure feedback.

• 出版日期2010
• 单位浙江大学; 江南大学