TESTING FLEXIBLE GRIPPERS FOR GEOMETRIC AND SURFACE GRASPING CONFORMITY IN RECONFIGURABLE ASSEMBLY SYSTEMS

被引：16
作者：
Basson, C., I [1 ]
Bright, G. [1 ]
Walker, A. J. [1 ]
机构：
[1] Univ KwaZulu Natal, Discipline Mech Engn, Durban, South Africa
来源：
SOUTH AFRICAN JOURNAL OF INDUSTRIAL ENGINEERING | 2018年 / 29卷 / 01期
基金：
新加坡国家研究基金会;
关键词：
Adaptability; Flexibility; Force feedback; Force-time characteristics; Material handling; Shape conformity;
D O I：
10.7166/29-1-1874
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The ongoing development in manufacturing technology facilitates flexibility in production and faces challenges of product handling. Flexibility was required in the form of adaptable grippers for robotic arms in pick-and-place procedures for reconfigurable assembly systems. A conceptual system was designed and tested according to the surface geometric conformity of grasped objects. The system proposed was a biologically inspired Fin Ray Effect (R) gripper. Grasping occurs due to the deformation of the rib structure of the appendage. The appendages were simulated for conformity by means of a finite element analysis, and performance was analysed by means of a physical sample mass test and a force test.
引用
收藏
页码：128 / 142
页数：15
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