Graspers are primarily applied to grasp or hold objects in engineering. To study the design model of graspers, various methods have been suggested, which can be divided into two types basically, the bionic mechanical grasper and the grasper made of soft materials. However, the design models of the above two types feature multiple degree-of-freedom, difficult in control, uneven grasping force or specific requirements on the object's properties. A new design model of simulated “soft” mechanical grasper is developed in this paper. Different from the existing graspers, this grasper, composed of rigid mechanical structures, is able to drive and control with single-degree-of-freedom and automatically self-adapts to object's shape with uniform grasping force. And the scale of transmission mechanism of knuckle unit of the grasper is calculated. Through the grasping experiments of typically fragile and deformable objects, the design model is verified to be effective.

抓取器主要用于在工程中抓取或固定对象。为了研究抓具的设计模型，已经提出了各种方法，基本上可以分为两种类型，即仿生机械抓具和由软材料制成的抓具。然而，以上两种类型的设计模型具有多个自由度，难以控制，抓握力不均匀或对物体的特性的特定要求。本文开发了一种新的模拟“软”机械抓紧器的设计模型。与现有的抓取器不同，该抓取器由刚性机械结构组成，能够以单自由度进行驱动和控制，并能够以均匀的抓取力自动适应物体的形状。并计算出抓手转向节传动机构的尺度。