Structure Configuration of a Manipulator for Internal Bracing Grasping of the Fragile Thin-Walled Cylindrical Inner Wall Parts

Taking the production process requirements of the pyrophyllite block as an example, which is raw material for the synthetic diamond. The manipulator with internal bracing grasping and pressing assembly for the fragile thin-walled cylindrical inner wall parts is designed, which can complete the grasping and assembling parts operation in a narrow space by a combination of the fingers and palm. In order to find the general structure and grasping law of the grasping manipulator suitable for the fragile thin-walled cylindrical inner wall parts, based on the introduction of the overall structure of the manipulator, the conditions of grasping and transferring fragile parts stably, the restrictions of cylinder driving force, and the different structure types of driving finger motion are discussed in detail in this paper. The grasping and assembling process of actual manipulator is taken as an example to verify our design. The research in this paper is beneficial to improve the design theory of the manipulator system with special functions.