Most grippers are suitable for clamping objects with a single surface rule.Because the clamping objects with complex shapes have uneven forces on the contact surface,it is difficult to achieve a stable clamping process.Therefore,according to this problem,this paper restores the clamping object model by analyzing the surface shape characteristics of the clamping objects and applying reverse modeling.Ac-cording to the structural characteristics of the model,a copy gripper matching the feature shape of the clamping object was designed with ZWSOFT software,and the object was fitted and clamped by relying on the internal modeling characteristics of the gripper.Through CAE force simulation analysis and clamping test,it was concluded that when the air pressure was 0.58MPa and the deflection Angle was 10°,the clamping stability of the copy gripper was the best.By using the obtained parameters and comparing with the ordinary gripper,the results show that the copying gripper has some advantages in clamping objects with complex surfaces.
万方数据
维普
