Research and Design on a New End Effector for Industrial Robot

Aiming at the faults of actual end effector for industrial robot,by analyzing the structure of human hand and optimizing the parameters,a multi-fingered end effector is designed which fits object grasp and has preferable mechanical performance.The kinematic model of each finger is built and the grasping motion is simulated,and on the basis of these,the controller with layered and modular structure is finished.Finally,the feasibility of the project is proved by the experiment in Motoman-SV3X commercial robot system.