Design and Modeling of Bionic Gripping Mechanism for Robotic Manipulator

Abstract

Robots designed for object manipulation are now widely used and in high demand across a broad range of industries. The scientific community's interest in developing optimal manipulators and gripping devices remains undiminished, as the prospects for the application of such robotic systems are constantly expanding with the development of artificial intelligence, giving rise to new challenges. of particular interest are anthropomorphic gripping devices, designed on the basis of the principles of how the human hand functions. Such anthropomorphic devices for manipulating and grasping objects employ complex control algorithms, necessitated both by the complexity of the robotic mechanisms themselves and by the variable operating environment, as well as the wide range of parameters of the objects to be manipulated. This paper proposes a concept for a gripping mechanism for manipulator devices based on bionic principles. The proposed gripping mechanism offers significant advantages: reliable fixation of the held object, simplicity of controlling the gripping mechanism without the use of resource-intensive intelligent methods, and a wide range of shapes and sizes of objects that the bionic gripper can hold. The paper describes an algorithm for constructing a bionic gripper, the principle for selecting the parameters of individual mechanism elements, and presents simulation modelling of the behavior of such a gripper when holding objects of various shapes, weights and sizes.