Abstract
A mathematic model of point contact friction force between gripper jaw and workpiece was established based on the wrench theory and the principle of force equivalence. The eccentric of workpiece was studied and its effect on the gripping force of the jaw was analyzed. This model revealed the factors influencing the variation of gripping force under heavy load conditions and provided a theoretical support for studying the load-carrying capability of stable gripping.
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Yang, L., Deng, H., Xu, Z. (2010). Gripping Force Model and Influence Factors of Gripping Device for Heavy Forging Manipulators. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6425. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16587-0_30
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DOI: https://doi.org/10.1007/978-3-642-16587-0_30
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16586-3
Online ISBN: 978-3-642-16587-0
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