The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Slip Considered Design and Analysis Pincers-type Gripper for Seizing Heavy-weighted Cylindrical Objects

고중량의 원통형 작업대상물 파지용 집게형 그리퍼의 슬립 조건과 이를 반영한 설계 및 해석

  • Received : 2015.03.04
  • Accepted : 2015.06.02
  • Published : 2015.11.30
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Abstract

This paper dealt with a pincers-type gripper being able to grip a heavy-weighted cylindrical object having various size with itself. This gripper should be designed to seize the objects without any change of jaw shape. Grasping achieved equilibrium after the object slipped on the jaw while grasping it. To cope with this situation, we suggested the slip considered gripper design procedure based on grasping equilibrium. The obtained slip condition can provide a limit friction coefficient depending on the contact angle when initiating contact between jaw and object. Consequently, the gripping force and the required actuating force can be calculated. In order to verify the proposed slip condition, the simulations were performed using a dynamic software.

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References

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