Abstract:

When a mechanical gripper is used to grasp objects of different weights and dimensions, the gripping force must be shrewdly calculated in each specific scenario, due to its dependence on the finger opening while the driving force is unchanged. In this paper, the movement of translational linkage grippers is simulated using Motion Skeleton of PTC Creo, based on which a graph of the gripping force vs. finger displacement is depicted. To evaluate the accuracy of this method, a mathematical model is established, describing the relationship between these two quantities, whose corresponding graph is then drawn using Mathcad. The results of these approaches indeed prove to be identical. This simulation method allows gripper designers to develop and optimize their products owing to the simple verification of the quality of the gripper dimensions