中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: Force closure analysis for an underactuated robot gripper
作者: 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: Applied Mechanics and Materials
会议录出版者: Trans Tech Publications
会议录出版地: Clausthal-Zellerfeld, Germany
出版日期: 2010
页码: 738-742
收录类别: CPCI(ISTP) ; EI
ISSN号: 1660-9336
ISBN号: 9783037850046
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.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10441
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
Force closure analysis for an underactuated robot gripper.pdf(182KB)----开放获取View Download
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Li QM(李群明)]'s Articles
[Qin QH(秦庆华)]'s Articles
[Zhang, Shiwei]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Li QM(李群明)]‘s Articles
[Qin QH(秦庆华)]‘s Articles
[Zhang, Shiwei]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: Force closure analysis for an underactuated robot gripper.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace