Design on Wrist and Gripper of manipulator Based on Kinematics Analysis

DOI

10.2991/icmemtc-16.2016.307How to use a DOI?

Keywords

Joint-manipulator; Structure design; Kinematics; Wrist; Gripper

Abstract

Joint-manipulator installed on the intelligent wheelchair robot decides the whole system capability. The kinematics analysis and structure design about mechanical wrist and gripper for joint-manipulator are discussed in this paper. Based on the D-H coordinate method, the kinematic equation of joint-manipulator is determined firstly, and its correctness is verified by doing the MATLAB simulation experiment. Then, according to the experimental results, the BR wrist of the manipulator is chosen and the gripper which can clamp both cylindrical and box objects is designed. In addition, the corresponding analysis is made by ANSYS software.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Huaizhi Zong
AU  - Shigui Xiang
AU  - Xiang Li
AU  - Lida Zhu
PY  - 2016/04
DA  - 2016/04
TI  - Design on Wrist and Gripper of manipulator Based on Kinematics Analysis
BT  - Proceedings of the 2016 3rd International Conference on Materials Engineering, Manufacturing Technology and Control
PB  - Atlantis Press
SP  - 1609
EP  - 1614
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmemtc-16.2016.307
DO  - 10.2991/icmemtc-16.2016.307
ID  - Zong2016/04
ER  -