The mechanical gripper of the manip

The mechanical gripper of the manipulator is mainly a two-finger grip type, and can be divided into a straight type and a rotary type depending on the grip movement mode.Back-to-back hand grips are divided into a single pivot type and a double pivot pivot type, and an outer clamp type and an inner support type depending on the clamping method. Depending on the mode of operation, it can be electric, hydraulic or pneumatic. The structure of the return clamp is simple, but if the diameter of the clamped work changes, the work axis will shift. For translational grippers, changes in the workpiece diameter do not affect the position of its axis. However, its mechanical mechanism is complicated and large, and requires high manufacturing accuracy. Therefore, when designing a gripper for a manipulator, a rotary gripper with a relatively simple structure is used as long as the positioning accuracy of the workpiece is satisfied.The manipulator designed in this paper uses a wedge groove rod type rotating gripper. As shown in the figure below, there is a rolling contact between the roller 3 mounted on the upper end of the rod and the wedge. When the motor drives the connecting rod forward, the inclined surfaces of wedge 4 and bar 1 generate the clamping action and the clamping force on both hands. When the wedge moves backwards, the fingers are released due to the spring tension. Due to the rolling contact between wedge and roller, this end effector has low friction, flexible movement and simple mechanism.す。