Uncertainty of Counteracting Force at Joints and Establishment and Analysis of the dynamic modeling of Grippers for large scale heavy duty Forging Manipulators

摘要：

The paper presents the concept of the Response Dead Zone of counteracting force, analyzes the changing law of kinematic pairs counteracting forces during the operation of large scale heavy duty grippers. The dynamic equations of the gripping mechanism which takes the friction of kinematic pairs into consideration are established. On top of that, we further investigate the reasons that result in the uncertainty of the counteracting forces of kinematic pairs and the incompleteness of the mechanism dynamic model. Finally, as a conclusion, the method of the friction conditions judgment is proposed and the fiction constraint equations are established, which make the mechanism dynamic model become complete and solvable.

关键词： Response Dead Zone of Counteracting Force large scale heavy duty Gripper Mechanism Dynamic Mode Fiction Constraint Equation

作者: Jingfei He Huihui Wang Hua Deng Bingmin Lou

作者单位: Central South University, Changsha,410083, China Central South University, Changsha, 410083, China

会议类型: 国际会议

会议名称: 2010 International Conference on Digital Manufacturing and Automation(2010 数字制造与自动化国际会议 ICDMA 2010)

会议地点: 长沙

会议语种:英文

页码: 868-871

在线出版日期: 2010-12-18（万方平台首次上网日期，不代表论文的发表时间）