Design, kinematics, and prototyping of a gripping mechanism to adapt large space

Abstract

This manuscript introduces a symmetrical gripping mechanism, a significant piece of robotic equipment, adept at adjusting to the variable dimensions of disparate objects within an extensive range. The innovative mechanism presented in this treatise has dual degrees of freedom (DOF), and its parameters can be customized to satisfy diverse requirements. Symbolic computation is employed to dissect both the forward and inverse kinematics of the mechanism. Furthermore, the requisite driving force of the mechanism, when paired with parameterized objects, is discussed. Ultimately, a methodology is suggested for discerning the mechanism’s parameters in relation to variously grasped widths and forces. The article concludes with the introduction of a prototype construction process. Experimental results substantiate the effectiveness and functionality of the proposed mechanism.