DOI: https://doi.org/10.20535/2521-1943.2019.85.162469

Determination of the calculated clamping forces in gripping devices of industrial robots

M. Pavlenko, M. Hodunko

Abstract


The article is devoted to the problem of creating a method for determining the actual calculated clamping forces in robots' exciting devices and performing a study of the influence of power load on the structural elements of the robots actuators, which will make it possible to obtain designs of gripping devices with minimal mass-dimensional characteristics. The necessity of the power design of the gripping device and its design characteristics is substantiated. The main stages of determining the real clamping forces are given for different variants of the orientation of the gripping device in space, taking into account the directions of movement of the robot arm. Equations are derived for determining the magnitude of the minimum required clamping forces and additional forces, which in sum will give the value of the calculated real clamping forces. The influence of design parameters of exciting devices and their operation modes on the magnitude of the calculated clamping forces is analyzed.

Keywords


robot gripping device; industrial robot; minimum; additional and calculated actual clamping force

References


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