Abstract
The paper shows a study about the theoretical centering precision for gripping devices. The deviation of the absolute axial centering is taken into account as a centering precision parameter and a general computing algorithm is developed for it. For previously developed gripping devices, using parallelogram and four-bar linkages with coupler driven jaws is computed the variation of the axial centering deviation.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Warnecke, H.J., Schraft, R.D.: Industrieroboter. Krausskopf-Verlag GmbH, Mainz (1979)
Mesaroş-Anghel, V.: Contribution to the synthesis of four-bar linkages used for designing of the grasping devices of the industrial robots (Contribuţii la sinteza mecanismelor articulate aplicate în construcţia dispozitivelor de prehensiune ale roboţilor industriali). PhD Thesis, Politehnica University of Timişoara, Romania (1991). Accessible on http://www.dmg-lib.org/
Konstantinov, M.S., Galabov, W.B.: Kriterien zum Entwurf von Greifmechanismen für maniupulatoren und Industrieroboter, Maschinenbautechnick, pp. 534–535 (1978)
Ceccarelli, M.: Fundamentals of Mechanics of Robotic Manipulation. Kluwer Academic Publishers, Dordrecht (2004)
Qingsen, H.: A linkage mechanism for concentric gripping cylindrical components. In: Proceedings of the 12 National symposium on Industrial Robots and the 6th International Symposium on Robotised Technologies, Paris, 9–11 June 1982
Brukher, E.: Maschinell betatigte Zange zum Greifen von Rundkorpen, Deutschland, Patent 3717091, 21 May 1987
Pankin, E.P.: Universalnoe zahvatnoe ustroino. Mehanizatiea i avtomatizatiea proizvotsva 11, 10 (1989)
Zhou, X., Majidi, C., O’Reilly, O.M.: Soft hands: an analysis of some gripping mechanisms in soft robot design. Int. J. Solids Struct. 64–65, 155–165 (2015)
Tilli, J., Brando, A., Fantoni, G.: Gripping device for heavy and deformable materials handling: concept, design, selection and test. Proc. CIRP 21, 373–378 (2014)
Wu, L., Carbone, G., Ceccarelli, M.: Design an under actuated mechanism for a 1 active DOF finger operation. Mech. Mach. Theory 44(2), 336–348 (2009)
Butterfass, J., Grebenstein, M., Liu, H., Hirzinger, G.: DLR-Hand II: next generation of a Dextrous robot hand. In: Proceedings of the IEEE, International Conference on Robotics and Automation, Seoul, Korea (2001)
Simionescu, I., Ionescu, C.: Optimum design of self centering grippers. UPB Sci. Bull. Ser. D 73(1), 43–52 (2011)
Kovacs, F.W., Varga, S., Pau, V.-C.: Introduction in Robotics (Introducere în robotică). Printech Publisher, Bucharest (2000)
Mesaroş-Anghel, V., Lovasz, E.-C., Gruescu, C.M., Moldovan, C.E.: Optimal Design of a Grasping Device through Simplified Pose Synthesis of a Four-Bar Linkage, MTM & Robotics 2016. Series: Mechanisms and Machine Science. Springer (2016)
Mesaroş-Anghel, V., Mesaroş-Anghel, T., Groza, I.-R., Cioabă, V., Mareş, A., Czika, Z.: Grasping device with centering (Dispozitiv de prehensiune cu centrare), Brevet nr.102291/26.06.1989, Romania (1989)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing Switzerland
About this paper
Cite this paper
Lovasz, EC., Mesaroş-Anghel, V., Gruescu, C.M., Moldovan, C.E., Ceccarelli, M. (2017). General Algorithm for Computing the Theoretical Centering Precision of the Gripping Devices. In: Beran, J., Bílek, M., Žabka, P. (eds) Advances in Mechanism Design II. Mechanisms and Machine Science, vol 44. Springer, Cham. https://doi.org/10.1007/978-3-319-44087-3_2
Download citation
DOI: https://doi.org/10.1007/978-3-319-44087-3_2
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-44086-6
Online ISBN: 978-3-319-44087-3
eBook Packages: EngineeringEngineering (R0)