Konzeption einer autonom wechselbaren Greiffinger-Koppelstelle mit Übertragung eines mechanischen Freiheitsgrades, Überlastauslösung und elektrischer Kontaktierung für Sensorik

Abstract

This thesis shows a concept of a coupling point for gripper fingers. These gripping fingers are part of a three-finger-gripper for a new research robot at the DLR (German Areospace Center). Changing the gripper fingers gives high flexibility with regard to the feasible gripping tasks and a simple structure of the three-finger-gripper with only four degrees of freedom. The concept includes a PCB with spring loaded contacts for electical connection and a conical dovetail joint for mechnical connection. The mounting direction of the coupling point is in the acutation direction of the linear drive for the gripper finger. The transmission of the mechanical degree of freedom is achieved with two racks and pinions and the overload release is bases on the friction effect. The realisation of the concept is critical due to the geometrical boundaries which leads to gripping forces below the requirements. Some possible solutions are contemplated and unconsidered areas for alternative solutions are shown.