로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제10권4호
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  • Pages.193-199
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  • 2015
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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고중량의 원통형 작업대상물 파지용 집게형 그리퍼의 슬립 조건과 이를 반영한 설계 및 해석

Slip Considered Design and Analysis Pincers-type Gripper for Seizing Heavy-weighted Cylindrical Objects

  • 투고 : 2015.03.04
  • 심사 : 2015.06.02
  • 발행 : 2015.11.30
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초록

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.

키워드

참고문헌

  1. Andreas Wolf, Ralf Steinmann, Henrik Schunk, "Gripper in motion", Springer, 2006.
  2. H.-S. Yu, M.-C. Kim, J.-B. Song, "Tendon-driven Adaptive Robot Hand", Journal of Korea Robotics Society, vol. 9, no.4, pp.258-263, 2014. https://doi.org/10.7746/jkros.2014.9.4.258
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  4. Y. Cho, J. Cheong, D. Kim, "Generalized Graph Representation of Tendon Driven Robot Mechanism", Journal of Korea Robotics Society, vol. 9, no.3, pp.178-184, 2014. https://doi.org/10.7746/jkros.2014.9.3.178
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  7. Civil-military technology cooperation, "Technology development for a rescue robot capable of lifting over 120 kgf", 2013-2019.
  8. J. Ponce, S. Sullivan, A. Sudsang, J. Boissonnat, D. Merle, "On computing four-finger equilibrium and force-closure grasps of polyhedral objects", The International Journal of Robotics Research, vol. 16, no.1, pp.11-35, 1997. https://doi.org/10.1177/027836499701600102
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피인용 문헌

  1. Functional Testing of First-Aid Gadget Prototypes for Relief Robot vol.13, pp.3, 2018, https://doi.org/10.7746/jkros.2018.13.3.164
  2. 인명 구조용 로봇의 패들형 말단 장치 설계 및 구현 vol.13, pp.4, 2015, https://doi.org/10.7746/jkros.2018.13.4.205
  3. Design of High Performance Manipulator for Small EOD Robot System vol.36, pp.12, 2015, https://doi.org/10.7736/kspe.2019.36.12.1125
  4. 파지 안정성을 강화한 과수 수확용 로봇 그리퍼의 설계 개선 vol.15, pp.2, 2020, https://doi.org/10.7746/jkros.2020.15.2.107