Simulation Analysis of Grasping Forces for a 3-DOF Robotic Manipulator

Abstract

In this paper, an attempt is made to simulate the grasping process of an underactuated robotic manipulator. A mathematical model of grasping forces of the manipulator was introduced, then a simulation model was built using MSC. Visual Nastran software. In order to validate the simulation model, different locations of the grasped object were considered. Contact forces were calculated theoretically and obtained from simulation of each grasped object location. Results obtained for each case are in good agreement, thus validating the simulation procedure followed in this study.

Keywords: Underactuated manipulator, Grasping force, Simulation analysis