ROBOTIC END EFFECTOR AND STRUCTURE OPTIMIZATION METHOD THEREFOR

WIPO Patent Application WO/2022/116788

A1

A robotic end effector, comprising: a flange frame (1) mounted at an end of a robotic arm, a driving mechanism (3) being mounted on the flange frame (1), a gripping mechanism being mounted on the driving mechanism (3), the gripping mechanism comprising symmetrically arranged claws, the claws each comprising a first finger section assembly (4), a middle finger section assembly (5), and an end finger section assembly (6). The robotic end effector can self-adapt to and envelop and grip hubs having various profiles and various sizes. Also provided is a structure optimization method for a robotic end effector. The method realizes global optimal optimization of structural parameters of the end effector, effectively ensures balance and stabilization of gripping forces of all finger sections of the end effector when gripping the hub, and solves the difficulty in the empirical design of the end effector in ensuring balance of joint contact forces and stable gripping.

SHEN YI (CN)
YUAN MINGXIN (CN)
SHEN YIHU (CN)
ZHANG QUANBING (CN)
SUN HONGWEI (CN)
DAI XIANLING (CN)
WANG QIANG (CN)
MIAO HAIPENG (CN)
HE SHUTING (CN)
RUAN WENTAO (CN)
ZHANG RENJIE (CN)
CHEN WEIHAO (CN)

PCT/CN2021/130033

June 09, 2022

November 11, 2021

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UNIV JIANGSU SCIENCE & TECH (CN)

B25J15/00; B25J15/08; B25J17/02

CN112621802A	2021-04-09
CN104669290A	2015-06-03
CN107414880A	2017-12-01
CN110757486A	2020-02-07
CN108214534A	2018-06-29
US20140097631A1	2014-04-10

NANJING JINGWEI PATENT & TRADEMARK AGENCY CO., LTD (CN)

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