nach oben

Erschienen in:

2017 | OriginalPaper | Buchkapitel

Optimal Design of a Grasping Device Through Simplified Pose Synthesis of a Four-Bar Linkage

verfasst von : V. Mesaros-Anghel, E.-C. Lovasz, C. M. Gruescu, C. E. Moldovan

Erschienen in: New Advances in Mechanisms, Mechanical Transmissions and Robotics

Verlag: Springer International Publishing

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config

KI-gestützte Suche

Aus

Abstract

The paper shows the optimal synthesis of grasping device design based on the Chebyshev spacing method. The original grasping device uses two symmetrical four-bar linkages with opposite motion of the jaws fixed on the coupler. The goal of the study is the development of a grasping device with minimal error of the axial centering, which reduces the synthesis to a four-pose one for the four-bar linkage. In order to minimize the centering error of the grasping device an equivalent Chebyshev spacing method for establishing the synthesis poses is used. A simplified pose synthesis method for the grasping four-bar linkage is developed. The both deviations of the axial centering errors (without spacing and with spacing) for the obtained linkage are indicated and analyzed.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Nächstes Kapitel Modified Method of the Kinematic Analysis of Planar Linkage Mechanism for Non-stationary Motion Modes

Mesaroş-Anghel, V.: Contribution to the synthesis of four-bar linkages used for designing of the grasping devices of the industrial robots (Contribuţii la sinteza mecanismelor articulate aplicate în construcţia dispozitivelor de prehensiune ale roboţilor industriali). PhD Thesis, Politehnica University of Timişoara, Romania, 1991. http://www.dmg-lib.org/

Ceccarelli, M.: Fundamentals of Mechanics of Robotic Manipulation. Kluwer Academic Publishers, Dordrecht (2004)CrossRefMATH

Fantoni, G., Santochi, M., Tracht, K., Scholz-Reiter, B., Fleischer, J., Kristoffer, L., Seliger, G., Reinhart, G., Franke, J., Hansen, H.N., Verl, A.: Grasping devices and methods in automated production processes. CIRP Ann.—Manuf. Technol. 63(2), 679–701 (2014)

Carbone, G. (ed.): Grasping in Robotics, vol. 10. Springer Publisher, Series (2013)

Brukher, E.: Maschinell betatigte Zange zum Greifen von Rundkorpen, Bundesrepublik Deutschland, Patent 3717091, 21 May 1987

Chelpanov, I.B., Kolpashnikov, S.N.: Mecanical features of gripper in industrial robots. In: 13th International Symposium on Industrial Robots and Robots, 17–21 April 1983, Chicago Illinois. 2, 18.77–18.90 (1983)

Kristen, M.: Greifkonstruction mit Hilfe der Computergestutzen Lagensynthese. Maschinen-bautechnik 7, 303–308 (1990)

Qingsen, H.: A linkage mechanism for concentric gripping cylindrical components. In: Proceedings of the 12 National Symposium on Industrial Robots and the 6th International Symposium on Robotised Technologies, Paris, 09–11 June 1982

Qingsen, H.: Concentric Gripper, UK Patent, nr. 8127255, 1981

10.

Volmer, J.: Industieroboter, Karl–Marx–Stadt. VEB Verlag Technic, Berlin (1980)

11.

Butterfass, J., Grebenstein, M., Liu, H., Hirzinger, G.: DLR-H and II: Next generation of a dextrous robot hand. In: Proceedings of 2001 IEEE, International Conference on Robotics and Automation, Seoul, Korea (2001)

12.

Azlan, N.Z., Yamaura, H.: Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks. Mech. Mach. Theory 49, 52–66 (2012)CrossRef

13.

Zhou, X., Majidi, C., O’Reilly, O.M.: Soft hands: an analysis of some gripping mechanisms in soft robot design. Int. J. Solids Struct. 64–65, 155–165 (2015)CrossRef

14.

Tilli, J., Brando, A., Fantoni, G.: Gripping device for heavy and deformable materials handling: concept, design, selection and test. Procedia CIRP 21, 373–378 (2014)CrossRef

15.

Chen, W., Xiong, C.: On Adaptive grasp with underactuated anthropomorphic hands. J. Bionic Eng. 13, 59–72 (2016)CrossRef

16.

Wu, L., Carbone, G., Ceccarelli, M.: Design an underactuated mechanism for a 1 active DOF finger operation. Mech. Mach. Theory 44(2), 336–348 (2009)CrossRefMATH

17.

Wu, L., Kong, Y., Li, X.: Review and research Issues on underactuated finger mechanism. In: Proceedings of the 2015 Chinese Intelligent Automatic Conference, p. 171. Springer (2015)

18.

Ceccarelli, M., Tavolieri, C., Lu, Z.: Design considerations for underactuated grasp with one DOF anthropomorphic finger mechanism. In: Proceedings of IEEE/RSI International Conference on Intelligent Robots and Systems (IROS 2006), Beijing, China, (2006), pp. 1611–1616

19.

Carbone, G., Ottaviano, E., Ceccarelli, M.: An optimum design procedure for both serial and parallel manipulators. Proc. Inst. Mech. Eng., Part C: J. Mech. Eng. Sci. 221(7), 829–843 (2007)CrossRef

20.

Perju, D.: Mechanisms in Precision Mechanics (Mecanisme de mecanică fină), Litografia I.P.T.V., Timisoara, 1986. http://www.dmg-lib.org/

21.

Modler, K.-H., Luck, K.: Getriebetechnik—Analyse, Synthese, Optimierung, vol. 2. Springer, Auflage (1995)

22.

Mesaroş-Anghel, V., Mesaroş-Anghel, T., Groza, I.-R., Cioabă, V., Mareş, A., Czika, Z.: Centering Grasping Device (Dispozitiv de prehensiune cu centrare). Brevet nr.102291/26.06.1989, Romania

Titel: Optimal Design of a Grasping Device Through Simplified Pose Synthesis of a Four-Bar Linkage
verfasst von: V. Mesaros-Anghel
E.-C. Lovasz
C. M. Gruescu
C. E. Moldovan
Verlag: Springer International Publishing
Buch: New Advances in Mechanisms, Mechanical Transmissions and Robotics
Print ISBN: 978-3-319-45449-8

Electronic ISBN: 978-3-319-45450-4

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-45450-4_1

Premium Partner

Marktübersichten

Die im Laufe eines Jahres in der „adhäsion“ veröffentlichten Marktübersichten helfen Anwendern verschiedenster Branchen, sich einen gezielten Überblick über Lieferantenangebote zu verschaffen.

Zur Marktübersicht