Dergiler / Turkish Journal of Engineering and Environmental Sciences / 1998 / Cilt: 22 - Sayı: 2
Stability and Behaviour of Parallel-Sided Workpieces Held by a Robot Gripper
- Sayfa
- 55–64
- DOI
- —
Özet
The stability and behaviour of parallel-sided workpieces held by a two-fingered robot gripper were investigated. The behaviour of the workpiece under an external force was studied by computer simulation through modelling the actual gripper-workpiece system as a mechanism with a single degree of freedom. The characteristics of the possible slip motion of the workpiece were also investigated, taking into consideration the effects of kinematic parameters on grasping stability.
Abstract
The stability and behaviour of parallel-sided workpieces held by a two-fingered robot gripper were investigated. The behaviour of the workpiece under an external force was studied by computer simulation through modelling the actual gripper-workpiece system as a mechanism with a single degree of freedom. The characteristics of the possible slip motion of the workpiece were also investigated, taking into consideration the effects of kinematic parameters on grasping stability.