Structural Design and Kinematics Simulation of Adaptive Underactuated Bionic Manipulator

In order to solve the existing problems of complex structure, poor self-adaptive, less freedom and single way of grasping objects, this paper designs an adaptive underactuated bionic manipulator with simple structure, easy control and can change the way of grasping according to the size and shape of the object.Firstly, the solid model of under-actuated bionic manipulator is established in SolidWorks,secondly, the forward kinematics model is established,then the motion range is obtained by using the software of Matlab, finally, the kinematics simulation analysis of the bionic manipulator is carried out by the software ADAMS, and the kinematics parameters and motion characteristic curves of the key components of the bionic manipulator finger are obtained. Verify the rationality and feasibility of the manipulator design, meet the design requirements of the manipulator, and provide a reference for the motion control of the manipulator and the optimal design of the mechanical structure.