Force closure analysis for an underactuated robot gripper
文献类型：会议论文
| 作者 | Li QM(李群明); Qin QH(秦庆华); Zhang, Shiwei |
| 出版日期 | 2010 |
| 会议名称 | 2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010 |
| 会议日期 | December 11-12, 2010 |
| 会议地点 | Chongqing, China |
| 关键词 | Algorithms End effectors Forgings Grippers Manufacture Optimization |
| 页码 | 738-742 |
| 中文摘要 | The force closure properties of the underactuated forging robot grippers are analyzed. The gripping contact forces distributed between the interface of the tongs and the work-piece are considered as an equivalent resultant force whose contact model is friction point contact, and must meet force closure equations. Then the operation theory of N robot fingers to grasp an object can be used for the analysis of the force closure and the calculation of contact forces. Based on the configurations of heavy duty grippers, where the position distribution of the resultant contact forces is optimized, the iterative algorithm of linear constrained gradient flows is used to optimize the contact forces and calculate the gripping force. The force closure properties for different forging robots and in different operation conditions and mechanisms are analyzed. Simulation and experimental results demonstrate the effectiveness of the optimization method. © (2011) Trans Tech Publications. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Control Engineering and Information Science Research Association; Int. Front. Sci. Technol. Res. Assoc.; Trans Tech Publications; Chongqing Xueya Conferences Catering Co.,Ltd; Chongqing University of Technology |
| 会议录 | Applied Mechanics and Materials
 |
| 会议录出版者 | Trans Tech Publications |
| 会议录出版地 | Clausthal-Zellerfeld, Germany |
| 语种 | 英语 |
| ISSN号 | 1660-9336 |
| ISBN号 | 978-3-03785-004-6 |
| WOS记录号 | WOS:000302594200145 |
| 源URL | [http://ir.sia.cn/handle/173321/10441]  |
| 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,Zhang, Shiwei. Force closure analysis for an underactuated robot gripper[C]. 见:2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010. Chongqing, China. December 11-12, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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