Analysis and comparison of contact forces between the constrained tongs and the under-constrained tongs
文献类型：会议论文
| 作者 | Li QM(李群明); Qin QH(秦庆华); Deng H(邓华) |
| 出版日期 | 2010 |
| 会议名称 | 2010 International Conference on Manufacturing Engineering and Automation, ICMEA2010 |
| 会议日期 | December 7-9, 2010 |
| 会议地点 | Guangzhou, China |
| 关键词 | End effectors Forgings Grippers Industrial engineering Manipulators Manufacture Railroad rolling stock Robotic arms Tools |
| 页码 | 2326-2330 |
| 中文摘要 | A 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Guangzhou University; The University of New South Wales; Huazhong University of Science and Technology; Xi'an Jiaotong University |
| 会议录 | Advanced Materials Research
 |
| 会议录出版者 | Trans Tech Publications |
| 会议录出版地 | Clausthal-Zellerfeld, Germany |
| 语种 | 英语 |
| ISSN号 | 1022-6680 |
| ISBN号 | 978-0-87849-226-8 |
| WOS记录号 | WOS:000290199901113 |
| 源URL | [http://ir.sia.cn/handle/173321/10473]  |
| 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. Analysis and comparison of contact forces between the constrained tongs and the under-constrained tongs[C]. 见:2010 International Conference on Manufacturing Engineering and Automation, ICMEA2010. Guangzhou, China. December 7-9, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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