Design of a three-claw manipulator with adjustable internal curvature based on grasping thin-walled fragile workpiece

Pyrophyllite is a kind of fragile material. Pyrophyllite ring made of pyrophyllite ring is necessary for synthetic synthetic diamond, which is limited by the processing condition of its shape, if the curvature radius of the inner surface of the manipulator is different from that of the workpiece, the contact part between the manipulator and the workpiece will form line contact, and the workpiece will be easily damaged. This will cause unnecessary loss and waste to the manufacturer, in order to prevent this situation, the structure of a three-claw manipulator with adjustable curvature is designed in this paper. A finite element model based on the equal and the Chebyshev interpolation distributions for the bolted joints of a manipulator is presented. Based on the analysis of the finite element model, the optimal distribution of the bolt joints on the manipulator finger is determined according to the Chebyshev interpolation. Under the same conditions, the force exerted by bolts with the Chebyshev interpolation distribution is 10% ~ 30% less than that exerted by bolts with the equal interpolation distribution.