Objective: to identify and analyze the main transmission characteristics of a typical linkage mechanism used in the gripper of a robotic manipulator. Methods: the mechanism was investigated kinematically through both analytical and combined graphical-analytical analysis. Its dynamic behaviour was also evaluated under static conditions based on the principle of virtual velocities. In addition, a general equation of the mechanism’s dynamics was derived for motion involving rotation around the principal central axis of inertia. Results: relationships between the mechanism's transmission characteristics and its geometric parameters have been determined. The dependence of the permissible pressure angle in the mechanism's translational kinematic pair on the geometric parameters of the mechanism's configuration has been established. A functional relationship has also been obtained between the gripping force of the gripper and the force exerted on the hydraulic cylinder rod. Practical significance: the results of the kinematic analysis may be applied to synthesize a more advanced mechanism based on the criterion of permissible pressure angles. The findings can likewise support a more precise evaluation of the interaction between the gripper and the object being manipulated. The results of the force calculation are applicable to determining the parameters of the hydraulic power cylinder required to satisfy the robot’s specified load-carrying capacity.
Ekaterina Oparina (Tue,) studied this question.