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Force closure analysis for an underactuated robot gripper
Li QM(李群明); Qin QH(秦庆华); Zhang, Shiwei
作者部门机器人学研究室
会议名称2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010
会议日期December 11-12, 2010
会议地点Chongqing, China
会议主办者Control Engineering and Information Science Research Association; Int. Front. Sci. Technol. Res. Assoc.; Trans Tech Publications; Chongqing Xueya Conferences Catering Co.,Ltd; Chongqing University of Technology
会议录名称Applied Mechanics and Materials
出版者Trans Tech Publications
出版地Clausthal-Zellerfeld, Germany
2010
页码738-742
收录类别EI ; CPCI(ISTP)
EI收录号20110313585941
WOS记录号WOS:000302594200145
产权排序1
ISSN号1660-9336
ISBN号978-3-03785-004-6
关键词Algorithms End Effectors Forgings Grippers Manufacture Optimization
摘要The force closure properties of the underactuated forging robot grippers are analyzed. The gripping contact forces distributed between the interface of the tongs and the work-piece are considered as an equivalent resultant force whose contact model is friction point contact, and must meet force closure equations. Then the operation theory of N robot fingers to grasp an object can be used for the analysis of the force closure and the calculation of contact forces. Based on the configurations of heavy duty grippers, where the position distribution of the resultant contact forces is optimized, the iterative algorithm of linear constrained gradient flows is used to optimize the contact forces and calculate the gripping force. The force closure properties for different forging robots and in different operation conditions and mechanisms are analyzed. Simulation and experimental results demonstrate the effectiveness of the optimization method. © (2011) Trans Tech Publications.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10441
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 Key Laboratory of Robotics, Shenyang, 110016, China
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Li QM,Qin QH,Zhang, Shiwei. Force closure analysis for an underactuated robot gripper[C]//Control Engineering and Information Science Research Association; Int. Front. Sci. Technol. Res. Assoc.; Trans Tech Publications; Chongqing Xueya Conferences Catering Co.,Ltd; Chongqing University of Technology. Clausthal-Zellerfeld, Germany:Trans Tech Publications,2010:738-742.
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