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本文设计一种用于水下搜索、抓取物体的机械手爪 ,该手爪为二指结构 ,集成了一套三自由度被动柔顺机构和两个接触传感器 ,可以适应与作业对象之间不同姿态的抓取 ,弥补了单自由度手爪作业能力的不足。
In this paper, a robot gripper for underwater searching and grasping objects is designed. The gripper is a two-finger structure which integrates a set of three-DOF passive compliance mechanism and two contact sensors, which can adapt to different attitudes with the work object Of the crawl, make up for the lack of single-degree-of-freedom claw operation ability.