Dynamic Modeling of Large Scale Heavy Duty Grippers Based on the Response Dead Zone of Counteracting Force

  • Authors:

  • Jingfei He;Yan Chen;Hua Deng;Rongguang Nie

  • Affiliations:

  • College of Mechanical & Electrical Engineering, Central South University, Changsha, China 410083;College of Mechanical & Electrical Engineering, Central South University, Changsha, China 410083;College of Mechanical & Electrical Engineering, Central South University, Changsha, China 410083;College of Mechanical & Electrical Engineering, Central South University, Changsha, China 410083

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

Quantified Score

Hi-index 0.00

Visualization

Abstract

This paper presents the concept of the response dead zone of counteracting force through dividing the mechanism operation into forward movement state and reverse micro-movement state for the large scale gripper of heavy duty forging manipulators. All the gravity effect as well as the Coulomb friction at the joints is considered. It is shown that the Coulomb friction has a significant effect on the gripping force. Dynamic simulations by using ADAMS software shows that stable gripping can be achieved if the gripping force is within the response dead zone of counteracting force. The findings provide a theory basis for the operation and control of the large scale heavy duty grippers.