Force Closure Analysis for the Forging Gripping Mechanisms
文献类型：期刊论文
| 作者 | Li QM(李群明); Qin QH(秦庆华); Deng H(邓华) |
| 刊名 | ADVANCED SCIENCE LETTERS
 |
| 出版日期 | 2011 |
| 卷号 | 4期号:6-7页码:2159-2163 |
| 关键词 | Forging Robots Gripping Mechanisms Force Closure Contact Force Optimization |
| ISSN号 | 1936-6612 |
| 产权排序 | 1 |
| 中文摘要 | The gripping contact forces distributed between the interface of the tongs and the work-piece of the gripper of forging robots are considered as an equivalent resultant force whose contact model is friction point contact. So the gripping operation is similar to multi fingered robot hands, and the operation theory of N robot fingers to grasp an object can be used for the analysis of the force-closure and the optimization of contact forces of heavy gripping mechanisms. After the configuration of heavy duty gripping mechanisms is analyzed, the position distribution of the resultant contact forces is optimized, the iterative algorithm of linear constrained gradient flows is used to calculate and analyze force-closure conditions. The force closure features for different forging robots and in different operation conditions and mechanisms are analyzed. Simulation and experimental results demonstrate the effectiveness of the force-closure method. |
| 收录类别 | SCI |
| 资助信息 | The authors acknowledge the support from National Basic Research Program of China (973 project: 2006CB705400) and State Key Laboratory of Robotics (RL0200917). |
| 语种 | 英语 |
| WOS记录号 | WOS:000295057600048 |
| 公开日期 | 2012-12-12 |
| 源URL | [http://ir.sia.ac.cn/handle/173321/10129]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Li QM,Qin QH,Deng H. Force Closure Analysis for the Forging Gripping Mechanisms[J]. ADVANCED SCIENCE LETTERS,2011,4(6-7):2159-2163. |
| APA | Li QM,Qin QH,&Deng H.(2011).Force Closure Analysis for the Forging Gripping Mechanisms.ADVANCED SCIENCE LETTERS,4(6-7),2159-2163. |
| MLA | Li QM,et al."Force Closure Analysis for the Forging Gripping Mechanisms".ADVANCED SCIENCE LETTERS 4.6-7(2011):2159-2163. |
入库方式： OAI收割
来源：沈阳自动化研究所
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