Design and stability analysis of bionic end-effector fingers for yarn tube gripping

According to the development demand of automatic yarn tube loading equipment in textile field, a fingertip gripping stability evaluation method is proposed and applied to the end-effector structure design suitable for multi-size yarn tube gripping. Firstly, by studying the human hand mechanism, the tendon type underdrive principle is used to design the rope sheave layout and tendon path of the end-effector finger, and its overall structural design is introduced; secondly, a virtual spring is used to establish an equivalent model of fingertip contact, and the grasping stability is evaluated from the perspective of system potential energy by constructing a stiffness matrix; on this basis, an elliptical curve under geometric constraints is used as the fingertip profile curve, and the release sample is used to Finally, quantitative analysis of gripping stability based on a yarn tube gripping model. The research results lay the foundation for the design of an efficient and reliable yarn tube gripping device. The working principle and design ideas of the bionic end-effector have some implications for the design of robotic end-effectors serving other fields.