Design and contact force analysis of dual-path transmission underactuated manipulators with the hybrid working mode
CAO Xiangang
XIANG Jingfang
WANG Peng
WU Xudong
ZANG Jiasong
Abstract：[Objective]A hybrid working mode underactuated manipulator was proposed to address the problem of difficulty in grasping coal foreign objects such as gangue and wooden blocks,which have irregular shapes and contours,large particle size variations,and thin volumes.[Methods]The manipulator used the envelope grasping and the parallel grasping to grasp irregular-ly shaped objects and thin objects,respectively.By parallel movement,the grasping space of the fingers was changed to adapt to the grasping of coal foreign objects in different particle sizes.Based on the movement process of fingers,grasping methods for coal foreign objects within different particle sizes were proposed.A contact force model for fingers was established,and the changes in contact force during the finger grasping were obtained,providing a basis for the stability study of the manipulator's grasping.[Results]The research results indicate that the manipulator is capable of grasping gangue and thin objects within the particle size range of 50-300 mm.
Keywords：Underactuated manipulatorEnvelope graspingParallel graspingContact force
Publication Date：2025-02-14
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 62-69 )