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고중량의 원통형 작업대상물 파지용 집게형 그리퍼의슬립 조건과 이를 반영한 설계 및 해석

Title
고중량의 원통형 작업대상물 파지용 집게형 그리퍼의슬립 조건과 이를 반영한 설계 및 해석
Translated Title
Slip Considered Design and Analysis Pincers-type Gripper for Seizing Heavy-weighted Cylindrical Objects
Authors
최정현안진웅이상문장명언
DGIST Authors
안진웅
Issue Date
2015-11
Citation
로봇학회 논문지, 10(4), 193-199
Type
Article
Keywords
GripperSlipGrasping EquilibriumFriction Limit
ISSN
1975-6291
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.
URI
http://hdl.handle.net/20.500.11750/4894
DOI
10.7746/jkros.2015.10.4.193
Publisher
한국로봇학회
Related Researcher
Files:
There are no files associated with this item.
Collection:
Convergence Research Center for Wellness1. Journal Articles


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