Aiming at the flexible manipulator grasping complex target parts of different shapes, a double-finger flexible manipulator model is proposed. The manipulator is composed of a flexible mechanical finger, a driving component and a position compensation mechanism. It imitates the motion characteristics of human finger joints and follows the principle of double-fingered grasping. According to the structural characteristics of the target contour, the grasping features of the target contour are extracted. Through the motion principle of the flexible manipulator, the kinematic model of the envelope clamping process of the manipulator target is carried out. Finally, the flexible manipulator experimental platform is built to verify the grasping characteristics of the flexible manipulator target. The results show that the manipulator can realize the adaptive grasping of cylinder and cuboid parts, which have high grasping reliability and stability.
Keywords: Flexible manipulator; composite drive; gripping experiment; mechanical design; servo control.