Entirety transformation mechanism and topological-type synthesis for heavy-duty gripping devices

被引：0

作者：

He JingFei ^{[1
]}

Deng Hua ^{[1
]}

Lou BingMin ^{[1
]}

Fu WeiKang ^{[1
]}

机构：

[1] Cent S Univ, Coll Mech & Elect Engn, Changsha 410083, Peoples R China

来源：

SCIENCE CHINA-TECHNOLOGICAL SCIENCES | 2011年 / 54卷 / 02期

关键词：

forging manipulator; gripping device; topological configuration; changing element; optimization;

D O I：

10.1007/s11431-010-4185-z

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Force closure and stability problems exist in heavy gripping devices. Based on a typical gripping device for forging operations, the workpiece and the gripping device are innovatively considered as a single mechanism in this paper, and its global topological configuration is obtained. The changing element method is used to establish the optimized topology geometry of the gripping device by decreasing the degrees of freedom of the gripping mechanism and improving the force closure performance. Therefore, a new idea for the innovative design of heavy-duty forging gripping devices is provided. As the effect of revolute joint friction on loading capacity of the gripping device cannot be ignored, a unified mechanical equation including friction in terms of the topological adjacency matrix is established to analyze the force closure performance and calculate the loading capacity. The conclusions are provided by experiments.

引用

页码：471 / 478

页数：8

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