Abstract
As the part of universal gripper development which holds piston ring of various diameters in 6 nails, the deformation behavior of piston ring in robot arm tip holding part was clarified, and adaptability evaluation of the hold mechanism was carried out. The aspect of the deformation in concretely holding piston ring in multiple supporting point was analyzed by the finite element method, and the relationship between deformation characteristic and retention force and hold method was clarified. On the basis of these analytical result, whether it was effective for the piston automatic insertion to the cylinder in respect of the deformation without the irrational in piston ring was investigated, and development support of the multiproducts-correspondent hold mechanism was carried out what kind of hold mechanism.
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