Kinematics Development, Simulation and Physical Implemention of Bionic Mechanical Claw for Intelligent Logistics Handling Robot

Intelligent Logistics Handling Robot is widely used in the industry 4.0 and the bionic mechanical claw is the most important part of the Handling Robot. In this paper, according to the tasks of the logistics scene, the bionic mechanical finger is designed using the rope key underdrive mode which is simple structure, low cost and energy saving. The basic structure model of the finger is determined according to the shape and size of the material and the size of the human finger. In this paper, according to the D-H method, the representation of spatial pose coordinates of fingers, the three-link finger motion solving formula and differential static mechanics analysis are completed. The feasibility and stability of rope key drive are verified in simulations. In addition, the finger envelope grasps, and the finger structure size are optimized, which provides the reference data for grasping control.