Design and numerical simulation of the new design of the gripper for manipulating of the rotational parts
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Дата
2018
DOI
doi.org/10.29354/diag/94030
Науковий ступінь
Рівень дисертації
Шифр та назва спеціальності
Рада захисту
Установа захисту
Науковий керівник
Члени комітету
Видавець
Polish Society of Technical Diagnostics
Анотація
The analysis of the field of application of gripper is carried out. Are allocated perspective areas of development of a robotics. The main difficulties in the application of kinematic schemes for gripping devices with rotary finger movement are described. The prospective application of the kinematic scheme of the gripper with a straight-parallel plane-parallel motion of the fingers is proved when manipulating an object of the "shaft" type. A new scheme of a gripper with a rectilinear plane-parallel finger movement is presented. Its design is simpler and cheaper than known devices of this type. The capability of the gripper design in the engineering analysis environment has been fulfilled. Numerous computer studies of both individual design elements and pairs of objects that are in interaction have confirmed the operability of the developed design. It is established that the frictional force in the mobile components of the gripper design is insignificant, which will not create the prerequisites for a significant increase in size.
Опис
Ключові слова
gripper, kinematics, computer analysis, reliability
Бібліографічний опис
Design and numerical simulation of the new design of the gripper for manipulating of the rotational parts / Ye. V. Basova [et al.] // Diagnostyka. – 2018. – Vol. 19, No. 4. – P. 11-18.