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题名: Force Closure Analysis for the Forging Gripping Mechanisms
作者: Li QM(李群明); Qin QH(秦庆华); Deng H(邓华)
作者部门: 机器人学研究室
关键词: Forging Robots ; Gripping Mechanisms ; Force Closure ; Contact Force Optimization
刊名: ADVANCED SCIENCE LETTERS
ISSN号: 1936-6612
出版日期: 2011
卷号: 4, 期号:6-7, 页码:2159-2163
收录类别: SCI
产权排序: 1
摘要: The gripping contact forces distributed between the interface of the tongs and the work-piece of the gripper of forging robots are considered as an equivalent resultant force whose contact model is friction point contact. So the gripping operation is similar to multi fingered robot hands, and the operation theory of N robot fingers to grasp an object can be used for the analysis of the force-closure and the optimization of contact forces of heavy gripping mechanisms. After the configuration of heavy duty gripping mechanisms is analyzed, the position distribution of the resultant contact forces is optimized, the iterative algorithm of linear constrained gradient flows is used to calculate and analyze force-closure conditions. The force closure features for different forging robots and in different operation conditions and mechanisms are analyzed. Simulation and experimental results demonstrate the effectiveness of the force-closure method.
语种: 英语
WOS记录号: WOS:000295057600048
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10129
Appears in Collections:机器人学研究室_期刊论文

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文件名: Force Closure Analysis for the Forging Gripping Mechanisms.pdf
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