파지면의 마찰을 고려한 개폐식 파지공구 메카니즘의 기구학적 최적 설계합성

The main objective of this study is to develop a gripper mechanism that can be employed for assembly and removal tasks of a nozzle-dam of steam gererator which is one of the nuclear reactor maintenance process. Brief description of the open-close type gripper mechanism, its postion analysis, and its kinematic amalysis are given. The optimal design of the gripper mechanism with slipping on its two gripping surfaces is considered. As an optimaldesign index, the ratio of the actuator force of prismatic cylinder to gripping load is proposed. Then, based on this index the optimal design synthesis is careied out to identify values of optimal design parameters for the gripper mechanism.