首页|Calculation of Contact forces of Large-scale Heavy Forging Manipulator Grippers
Calculation of Contact forces of Large-scale Heavy Forging Manipulator Grippers
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NETL
NSTL
Different from dexterous robotic hands, the gripper of heavy forging manipulator is an underconstrained mechanism whose tongs are free in a small wiggling range. However, for both a dexterous robotic hand and a heavy gripper, the force closure condition: the force and the torque equilibrium, must be satisfied without exception to maintain the grasping/gripping stability. This paper presents a gripping model for the heavy forging gripper with equivalent friction points, which is similar to a grasp model of multifingered robot hands including four contact points. A gripping force optimization method is proposed for the calculation of contact forces between gripper tongs and forged object. The comparison between the calculation results and the experimental results demonstrates the effectiveness of the proposed calculation method.
optimization of contact forcesgripping mechanismforging manipulatorgradient flows
Li Qun-ming、Gao Dan、Deng Hua
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School of Mechanical and Electrical Engineering, Central South University, Changsha, China
NETL
NSTL
