Gripping force model and influence factors of gripping device for heavy forging manipulators

Authors:
Lixin Yang;Hua Deng;Zhen Xu
Affiliations:
School of Mechanical and Electrical Engineering, Central South University, Changsha, China;School of Mechanical and Electrical Engineering, Central South University, Changsha, China;School of Mechanical and Electrical Engineering, Central South University, Changsha, China
Venue:
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part II
Year:
2010

Citing 2
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ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part II

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Abstract

A mathematic model of point contact friction force between gripper jaw and workpiece was established based on the wrench theory and the principle of force equivalence. The eccentric of workpiece was studied and its effect on the gripping force of the jaw was analyzed. This model revealed the factors influencing the variation of gripping force under heavy load conditions and provided a theoretical support for studying the load-carrying capability of stable gripping.