Aiming at the problem of deformation and slip of disc-shaped rubber gasket in the process of grasping, a two-finger translational manipulator based on ABB1410 robot is designed.The kinematics model of the two-finger translational manipulator is established, and the geometric relationship between the motor angle and the grasping position is obtained.Based on the two-dimensional force sensor, the dynamic characteristics of the two-finger translational manipulator were studied, and the relationship between the grasping force and the deformation and slip of the disc-shaped rubber gasket was obtained.A prototype of two-finger translational manipulator is developed. The experimental results show that when the grasping force is 5N, small deformation and stable grasping can be achieved. The grasping and handling process of disk-shaped rubber gasket is designed based on Robot Studio software, and the verification experiments were carried out. The experimental results show that the system can achieve the small deformation and stable grasping of flexible objects, which is consistent with the simulation results.The research can provide theoretical and experimental basis for the design of automation system structure and process control.

中文翻译：

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两指平移机械手的动力学特性和防滑抓地力

针对圆盘状橡胶垫片在抓握过程中变形和打滑的问题，设计了一种基于ABB1410机器人的两指平移机械手，建立了两指平移机械手的运动学模型，并建立了几何关系在二维力传感器的基础上，研究了两指平移机械手的动力学特性，研究了抓力与圆盘形变形和滑移之间的关系。获得了橡胶垫圈。开发了两指平移操纵器的原型。实验结果表明，当抓力为5N时，变形小，抓握稳定。基于Robot Studio软件设计了圆盘状橡胶垫圈的抓取和处理过程，并进行了验证实验。实验结果表明，该系统能够实现柔性物体的小变形和稳定抓取，与仿真结果相吻合。该研究可为自动化系统的结构设计和过程控制提供理论和实验依据。