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Force closure analysis for an underactuated robot gripper
Li QM(李群明); Qin QH(秦庆华); Zhang, Shiwei
Department机器人学研究室
Conference Name2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010
Conference DateDecember 11-12, 2010
Conference PlaceChongqing, China
Author of SourceControl 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
Source PublicationApplied Mechanics and Materials
PublisherTrans Tech Publications
Publication PlaceClausthal-Zellerfeld, Germany
2010
Pages738-742
Indexed ByEI ; CPCI(ISTP)
EI Accession number20110313585941
WOS IDWOS:000302594200145
Contribution Rank1
ISSN1660-9336
ISBN978-3-03785-004-6
KeywordAlgorithms End Effectors Forgings Grippers Manufacture Optimization
AbstractThe 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10441
Collection机器人学研究室
Affiliation1.School of Mechanical and Electrical Engineering, Central South University, Changsha, 410083, China
2.State Key Laboratory of Robotics, Shenyang, 110016, China
Recommended Citation
GB/T 7714
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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