Design and Simulation of underwater manipulator gripper

In this paper, a parallel gripper with force-tactile perception is designed, and its structure analysis and kinematics simulation are carried out. The designed gripper has the characteristics of compact structure, and the increased force and tactile sensing function can improve the ability of the gripper for precise operation. The size of each connecting rod of the mechanism is determined through theoretical analysis, and the structure strength of the gripper is checked by simulation analysis. In this paper, the influence of the gripper structure parameters and hydraulic cylinder stroke on the opening and closing distance of the gripper and the relationship between the gripping force of the gripper and the pulling force of the hydraulic cylinder are analyzed.