Design of miniature manipulator systems for nuclear detecting and emergency processing robots

The authors of the paper designed a new miniature manipulator system for nuclear detecting and emergency processing robots based on the consideration that traditional miniature manipulators have the shortcomings of high structure complexity and low object-grasping ability. In the system, the lever slide-type hand is used as the grasping structure, and the small arm and the big arm are designed with the mechatronics method, which is characterized by simple structure, light weight, and high ability of grasping heavy objects. The simulation and experiment results show that it can meet the requirements of the miniature robots in holding heavy objects.