Prototype design and structural analysis of a variable-angle robotic gripper prototype

Abstract

This paper describes the design of a three-finger mechanical claw, a horticultural product gripper. The design scheme adopts a systematic approach by evaluating all possible structures, selecting the most suitable motion and structure scheme, and using G.I. The proposed structure is optimized and numerically simulated by the evaluation index. The design process and test results are discussed, and the mechanical claw scheme, which is highly versatile, is designed. The three-dimensional model is established with Solidworks, and the kinematic simulation and static simulation are carried out to verify the feasibility of the design scheme preliminarily. The effectiveness of the method is proved by additive manufacturing by making an actual model for the clamping test. The experiment shows that the three-finger mechanical claw with rotating knuckles has good compatibility with the shape of the clamp, and the scheme is simple and convenient in the control process.