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Force Closure Analysis for the Forging Gripping Mechanisms
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
发表期刊ADVANCED SCIENCE LETTERS
ISSN1936-6612
2011
卷号4期号:6-7页码:2159-2163
收录类别SCI
WOS记录号WOS:000295057600048
产权排序1
资助机构The authors acknowledge the support from National Basic Research Program of China (973 project: 2006CB705400) and State Key Laboratory of Robotics (RL0200917).
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
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/10129
专题机器人学研究室
作者单位1.School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China
2.State κey Laboratory of Robotics, Shenyang 110016, China
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GB/T 7714
Li QM,Qin QH,Deng H. Force Closure Analysis for the Forging Gripping Mechanisms[J]. ADVANCED SCIENCE LETTERS,2011,4(6-7):2159-2163.
APA Li QM,Qin QH,&Deng H.(2011).Force Closure Analysis for the Forging Gripping Mechanisms.ADVANCED SCIENCE LETTERS,4(6-7),2159-2163.
MLA Li QM,et al."Force Closure Analysis for the Forging Gripping Mechanisms".ADVANCED SCIENCE LETTERS 4.6-7(2011):2159-2163.
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