Influence of Contact Forces on Stable Gripping for Large-Scale Heavy Manipulator

  • Authors:

  • Qunming Li;Dan Gao;Hua Deng

  • Affiliations:

  • College of Mechanical and Electrical Engineering, Central South University, Changsha, China;College of Mechanical and Electrical Engineering, Central South University, Changsha, China;College of Mechanical and Electrical Engineering, Central South University, Changsha, China

  • Venue:
  • ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part II
  • Year:
  • 2008

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Abstract

Stably and safely gripping work-piece during the forging process is very important for large-scale heavy manipulators. Among various factors that influence stably gripping, the contact status between grippers and work-piece plays a significant role. In order to achieve stable gripping, a three-dimension gripping-contact model based on the assumption of point contact with friction is presented to calculate closed-form solutions of contact forces. Moreover, force equilibrium conditions are analyzed qualitatively. Relations between joint space, contact forces space and work piece space are derived by exponential map in terms of spatial manipulator Jacobian matrix and griping matrix. Adams' simulation results based on a large-scale heavy forging manipulator is used to determine the position and change of different contact points while moving. The influence of contact forces on stable gripping is analyzed by academic calculation and computer simulation. The work is helpful for the optimal design of the grippers and the stable gripping analysis for large-scale heavy manipulators.