OPTIMUM DESIGN OF GRIPPER JAWS FOR TAPERED COMPONENTS

作     者：PHAM, DT NATEGH, MJ 

作者机构：[a1 ] Intelligent Systems Research Group School of Electrical Electronic and Systems Engineering University of Wales Cardiff (U.K.).[a2 ] Plan and Program Department Ministry of Heavy Industries Tehran (Iran). 

出 版 物：《ROBOTICA》 (机器人学)

年 卷 期：1990年第8卷第3期

页      面：223-230页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

主　　题：Gripper End effector Tooling Jaw profiles Tapered components Design 

摘      要：For ease of manufacture, axisymmetric components produced by processes such as forging, casting and moulding are often designed with a taper angle. This paper presents a family of devices for handling such components by their tapered portion. The devices are essentially finger tips, or jaws, to be fitted to standard scissor-type robot grippers. The jaws possess a three-dimensional profile constructed as a stack of v-shaped planar curves. The special jaw profile enables components of different diameters and taper angles to be gripped concentrically without calling for complex movements to reposition the gripper. The equations describing two categories of profile are derived and the optimum selection of profile parameters to yield compact jaws to grip components of a wide range of dimensions is discussed in the paper.