Goals of robot gripper mechanics

Abstract

This paper is devoted to the methods of computation and analysis of equilibrium positions of the object in the robot gripping device, assuming that the contact between the object and gripper is maintained in a finite number of points. Problems of construction of computation models which make it possible to determine the reliability of holding an object in the gripper of an industrial robot in operation are considered. To compute the gripper carrying capacity, the authors developed a procedure involving a system of seven equilibrium equations for the “object-gripper” mechanical system: when the equations are solved, the carrying capacity of the gripper can be estimated and its exhaustive characteristic plotted, which is the area of rigid fixation within the space of acting forces and moments. The results of the present study can be used when developing the robot devices, optimizing their parameters, or estimating the reliability of object holding in auxiliary transfer devices, feeders and positioners (such as spools, dispensers, special holders, etc).