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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)
Department机器人学研究室
Conference Name2010 International Conference on Manufacturing Engineering and Automation, ICMEA2010
Conference DateDecember 7-9, 2010
Conference PlaceGuangzhou, China
Author of SourceGuangzhou University; The University of New South Wales; Huazhong University of Science and Technology; Xi'an Jiaotong University
Source PublicationAdvanced Materials Research
PublisherTrans Tech Publications
Publication PlaceClausthal-Zellerfeld, Germany
2010
Pages2326-2330
Indexed ByEI ; CPCI(ISTP)
EI Accession number20110113546173
WOS IDWOS:000290199901113
Contribution Rank1
ISSN1022-6680
ISBN978-0-87849-226-8
KeywordEnd Effectors Forgings Grippers Industrial Engineering Manipulators Manufacture Railroad Rolling Stock Robotic Arms Tools
AbstractA 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10473
Collection机器人学研究室
Affiliation1.School of Mechanical and Electrical Engineering, Central South University, Changsha, China
2.State Key Laboratory of Robotics, China
Recommended Citation
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.
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