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Analysis of dynamic contact forces for forging manipulator grippers
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
会议名称6th International Conference on Manufacturing Automation, ICMA 2010
会议日期December 13-15, 2010
会议地点Hong Kong, China
会议主办者Chin. Univ. Hong Kong, Dep. Mech. Autom. Eng.; The University of Hong Kong, Department of Mechanical Engineering; K.C. Wong Education Foundation
会议录名称Proceedings - 2010 International Conference on Manufacturing Automation, ICMA 2010
出版者IEEE Computer Society
出版地Piscataway, USA
2010
页码257-260
收录类别EI
EI收录号20110813695821
产权排序1
ISBN号978-0-7695-4293-5
关键词Dynamic Analysis End Effectors Forgings Manipulators Manufacture Railroad Rolling Stock Rolling Resistance
摘要A contact model has been presented which assume that the contact forces between the work-piece and the tongs are simplified as the four resultant forces with friction point contact. And the contact forces are calculated based on this contact model. To simplify the contact status, a contact model with spring-damper system is presented by considering the deformation of the work-piece in this paper. And the dynamic equations of the work-piece are formulated based on this dynamic contact model. The solution of the dynamic equations is finished in Adams, and the contact forces and driving forces are calculated. By compared with the contact forces of the gripping model, the regularity of dynamic contact forces is found out. This is helpful for the design and optimization of large-scale forging manipulators.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10448
专题机器人学研究室
作者单位1.School of Mechanical and Electrical Engineering, Central South University, Changsha, China
2.State Key Laboratory of Robotics, Shenyang, China
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Li QM,Qin QH,Deng H. Analysis of dynamic contact forces for forging manipulator grippers[C]//Chin. Univ. Hong Kong, Dep. Mech. Autom. Eng.; The University of Hong Kong, Department of Mechanical Engineering; K.C. Wong Education Foundation. Piscataway, USA:IEEE Computer Society,2010:257-260.
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