Guideline and design of a six-dimensional constraint gripper

摘要

This paper presents the guideline and mechanical design of a six-dimensional constraint gripper. A state vector is firstly defined to represent the position/orientation misalignment. After analysising three basic geometric constraint methods from the point of caging and immobilizing, we propose a reliable six-dimensional constraint gripper design guideline. The mechanical design is conducted with the guideline, consisting of four elementary constraint components. They constrain the relative mobility step by step. At last, simulation results verify that the gripper can effectively constrain the six-dimensional mobility gradually.