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

Authors

  • M. Pavlenko Central Ukrainian National Technical University, Kropyvnitsky city, Ukraine https://orcid.org/0000-0001-7629-8868
  • M. Hodunko Central Ukrainian National Technical University, Kropyvnitsky city, Ukraine

DOI:

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

Keywords:

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

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.

Author Biography

M. Pavlenko, Central Ukrainian National Technical University, Kropyvnitsky city

доцент кафедри "Технології машинобудування"

References

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Published

2019-04-14

How to Cite

[1]
M. Pavlenko and M. Hodunko, “Determination of the calculated clamping forces in gripping devices of industrial robots”, Mech. Adv. Technol., no. 1(85), pp. 85–92, Apr. 2019.

Issue

No. 1(85) (2019)

Section

Original study

License

Copyright (c) 2020 Mechanics and Advanced Technologies

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