A Structure Design and Finite Element Analysis of a Dual Servo-Driven Gripping Manipulator

In response to the difficulties in grasping irregular objects and the single grasping angle issue of mechanical claws carried by small multi-rotor aerial vehicles, this paper takes the grasping mechanical claw carried by multi-rotor aerial vehicles as the research object and designs a four-finger mechanical claw driven by dual servos that can rotate. First, the mechanical claw model was established in SolidWorks, and then it was imported into ANSYS Workbench for static and transient dynamic analysis of the push-pull crank and meshing gears of the mechanical claw, obtaining the total deformation and stress distribution cloud diagrams of each component. The analysis results indicate that during the process of grasping objects, the maximum stress of the push-pull crank and meshing gears of the mechanical claw is far less than the material yield strength, and all meet the working requirements. This provides a reference for the design and optimization of similar structures such as mechanical claws carried by rotor aerial vehicles.