Abstract
Invention proposes an adaptive gripping device of an industrial robot, which combines functions of capturing different-shape manipulation objects with control of deviations from the shape of these objects. The device is a T-shaped frame with three Bernoulli grips pivotally mounted thereon and a pneumatic sensor. Analytical dependencies are presented for determination of design parameters of adaptive gripping device and calculation of required lifting force of each of Bernoulli Gripping Device (BGD). Formula is derived for determining its position of pneumatic sensor on frame of gripping devices. In the ANSYS-CFX software environment, numerical simulation of airflow dynamics in the gap between the cooperating BGD surfaces and the offset mirror antenna plate blank. The simulation was based on the Reynolds-Averaged Navier–Stokes (RANS) equations of viscous gas dynamics, the Shear Stress Transport (SST) model of turbulence, and the y model of laminar–turbulent transition. As a result of the simulation, the effect of the curvature radius of the surface of the plates of offset mirror antennas on the BGD power characteristics was determined.
Highlights
When automating handling operations using industrial robots, the tasks of manipulating articles that change shape during machining often arise
In this paper proposed a special gripping device capable of gripping a flat metal sheet for loading into a press, and after it is pressed to grip a blank of a plate of an offset mirror antenna, has acquired a parabolic shape
It has been found that when gripping an offset antenna blank with dimensions of 0.85...1.05 m, the load capacity of the Bernoulli Gripping Device (BGD) will decrease by 39% compared to the lifting force of the flat object
Summary
When automating handling operations using industrial robots, the tasks of manipulating articles that change shape during machining often arise. For the purpose of minimization of energy consumption of BGD when performing handling operations by authors of the paper, the method of optimization of gripper orientation in the course of manipulation was developed. The pneumatic measurement method provides high accuracy and absence of contact with the controlled object, high reliability and durability of operation, ease of automation of the control process This measuring device allows to perform operational dimensional control of stamped blanks of offset mirror antennas, and to establish deviations from the required geometry. Control device 18 (Figure 1e) of this special grip is made in the form of pneumatic size control sensor It is mounted on the T-shaped frame 4 normal to the offset antenna blank at point 23 (Figure 2), which as a result of the antenna manufacturing process, receives the maximum total strain Δ. Under the action of springs 14, 16 Bernoulli grippers return to initial position
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