SIA OpenIR  > 机器人学研究室
Analysis and comparison of contact forces between the constrained tongs and the under-constrained tongs
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2010 International Conference on Manufacturing Engineering and Automation, ICMEA2010
会议日期December 7-9, 2010
会议地点Guangzhou, China
会议主办者Guangzhou University; The University of New South Wales; Huazhong University of Science and Technology; Xi'an Jiaotong University
会议录名称Advanced Materials Research
出版者Trans Tech Publications
出版地Clausthal-Zellerfeld, Germany
2010
页码2326-2330
收录类别EI ; CPCI(ISTP)
EI收录号20110113546173
WOS记录号WOS:000290199901113
产权排序1
ISSN号1022-6680
ISBN号978-0-87849-226-8
关键词End Effectors Forgings Grippers Industrial Engineering Manipulators Manufacture Railroad Rolling Stock Robotic Arms Tools
摘要A comparison of contact forces between the constrained gripper and the under-constrained gripper to grip the same work-piece is analyzed. The new type heavy forging grippers with constrained rods are designed to improve the contact status. The main difference between the new grippers with constrained tongs and the traditional grippers with under-constrained tongs is that the constrained gripper has constrained rods to keep the two tongs parallel. A gripping model has been presented in which the gripping operation is equivalent to the grasp of multi-fingered robot hands with friction contact point model. The models for calculating contact forces with constrained tongs and under-constrained tongs are presented with different constraint functions based on gradient flow optimization algorithms, and the constraint functions describe the definite state of the tongs during forging operation. By comparing the simulation and experiment results of the contact and gripping forces, it shows that the contact forces are different when the gripping in different rotation angles and the contact forces with constrained tongs is much smaller than that with under-constrained tongs, especially in the vertical position.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10473
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, China
推荐引用方式
GB/T 7714
Li QM,Qin QH,Deng H. Analysis and comparison of contact forces between the constrained tongs and the under-constrained tongs[C]//Guangzhou University; The University of New South Wales; Huazhong University of Science and Technology; Xi'an Jiaotong University. Clausthal-Zellerfeld, Germany:Trans Tech Publications,2010:2326-2330.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Analysis and compari(361KB) 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Li QM(李群明)]的文章
[Qin QH(秦庆华)]的文章
[Deng H(邓华)]的文章
百度学术
百度学术中相似的文章
[Li QM(李群明)]的文章
[Qin QH(秦庆华)]的文章
[Deng H(邓华)]的文章
必应学术
必应学术中相似的文章
[Li QM(李群明)]的文章
[Qin QH(秦庆华)]的文章
[Deng H(邓华)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Analysis and comparison of contact forces between the constrained tongs and the under-constrained tongs.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。