CLASS OF ANTHROPOMORPHIC MODULAR RECONFIGURABLE GRIPPERS WITH THREE OR FOUR FINGERS FOR ROBOT-DESIGN AND PROTOTYPE
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2011, Vol 56, Issue 2
Abstract
In this paper, one class of anthropomorphic modular reconfigurable grippers for robots is described, including a prototype. First, the stages of synthesis, analysis design, and functional simulation are illustrated. The structural synthesis of the anthropomorphic grippers for robots is possible according to the following main criteria: the number of fingers, the number of phalanxes, the relative dimensions of the phalanxes, the relative position of the fingers, the degree of freedom of the gripping mechanism, and the characteristic constructive elements that are used. We choose two versions: with three and four identical fingers with three phalanxes on finger. Kinematic synthesis is used to obtain correct closing of the finger and of the gripping mechanism. The function of position, the function of speed, and the function of acceleration for characteristic points are obtained from the kinematic analysis. The static synthesis solves the problem of obtaining the necessary gripping force on each finger, and the total gripping force. Strength calculation was possible based on the internal forces, which act between elements. By means of constructive dimensions, a 3D model can be obtained using CATIA software. Some aspects regarding functional CAD and virtual simulations are depicted as well. For one variant of this type of gripper, with three fingers, the technical documentation is completed and the technical project meets all the conditions for practical achievement, and a prototype was made. There are two main constructive modules: the support – the palm and the finger. The main technical characteristics of the prototype are indicated. Some aspects regarding actuated and command schemes are illustrated.
Authors and Affiliations
Ionel STARETU
Keywords
Related Articles
- EP ID EP119656
- DOI -
- Views 68
- Downloads 0
THE INFLUENCE OF THE WHEEL CONICITY ON THE HUNTING MOTION CRITICAL SPEED OF THE HIGH SPEED RAILWAY WHEELSET WITH ELASTIC JOINTS
The axle hunting is a coupled lateral and yaw self oscillatory motion which is largely determined by wheel–rail contact geometry. The stability of this motion is an important dynamic problem that determines the maximum o...
THE DISPLACEMENT OF THE EXCAVATOR BUCKET ON THE OPTIMUM TRAJECTORY THROUGH THE CONTROL OF THE HYDRAULIC CYLINDERS LENGTHS
The article refers to the hydraulic excavators with backhoe attachment equipped with length sensors at the hydraulic cylinders. The relations for the calculus of the lengths of the hydraulic cylinders of the excavator co...
EVOLUTION OF EUROCODE 3 – AMENDMENTS TO EN 1993-1-5 FOR PLATE BUCKLING
Starting in 2010 the European Commission initiated the process of evolution of the first generation of Eurocodes. Based on Mandates M/466 EN and M/515 EN, CEN/TC250 created several expert groups which deal with this evol...
EROSION OF INTERACTIVE BUCKLING LOAD OF THIN-WALLED STEEL BAR MEMBERS: CONTRIBUTION OF “TIMISOARA SCHOOL”
The paper presents a summary of the activity and research achievements of the Romanian researchers of Timisoara School in the field of stability of cold-formed steel members. Both, fundamental theory and applied instabil...
ON THE EFFECTS CAUSED BY THE SHOCK DURING RAILWAY VEHICLE BUFFING
A theory of shock caused by the buffing of railway vehicles is presented. It considers kinematic parameters and forces as response of the mechanical system caused by the vehicles that are effectively taking part in the b...