Calculation of Contact Forces of Large-Scale Heavy Forging Manipulator Grippers

Qun Ming Li; Dan Gao; Hua Deng

doi:10.4028/www.scientific.net/KEM.419-420.645

Paper Titles

Trajectory Planning Realization for Multi-Legged Walking Machine's Leg
p.629

Applying Genetic Algorithm to Resource Constrained Multi-Project Scheduling Problems
p.633

Finite Capacity Planning for Multiple TFT-LCD Color Filter Fabs
p.637

Facility Planning for TFT-LCD Array Fab
p.641

Calculation of Contact Forces of Large-Scale Heavy Forging Manipulator Grippers
p.645

Layout Optimization of Mooring Base of the Ship-Based Helicopter Based on FEM
p.649

Interference Suppression Detector for Spread Spectrum System Based on Amplitude Domain Processing
p.653

A Layout Method for Control Panel of Thermal Power Plant
p.657

A Novel 3D Mesh Segmentation Method of Algebraic Models in Reverse Engineering
p.661

HomeKey Engineering MaterialsKey Engineering Materials Vols. 419-420Calculation of Contact Forces of Large-Scale Heavy...

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.