Force closure analysis for an underactuated robot gripper

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Force closure analysis for an underactuated robot gripper
	Li QM(李群明); Qin QH(秦庆华); Zhang, Shiwei
	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
内容类型	会议论文
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.