Paper Title:
Calculation of Contact Forces of Large-Scale Heavy Forging Manipulator Grippers
  Abstract

Different from dexterous robotic hands, the gripper of heavy forging manipulator is an underconstrained mechanism whose tongs are free in a small wiggling range. However, for both a dexterous robotic hand and a heavy gripper, the force closure condition: the force and the torque equilibrium, must be satisfied without exception to maintain the grasping/gripping stability. This paper presents a gripping model for the heavy forging gripper with equivalent friction points, which is similar to a grasp model of multifingered robot hands including four contact points. A gripping force optimization method is proposed for the calculation of contact forces between gripper tongs and forged object. The comparison between the calculation results and the experimental results demonstrates the effectiveness of the proposed calculation method.

  Info
Periodical
Key Engineering Materials (Volumes 419-420)
Edited by
Daizhong Su, Qingbin Zhang and Shifan Zhu
Pages
645-648
DOI
10.4028/www.scientific.net/KEM.419-420.645
Citation
Q. M. Li, D. Gao, H. Deng, "Calculation of Contact Forces of Large-Scale Heavy Forging Manipulator Grippers", Key Engineering Materials, Vols. 419-420, pp. 645-648, 2010
Online since
October 2009
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Price
$32.00
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