- Turkish Journal of Engineering and Environmental Sciences
- Vol: 22 Issue: 2
- Stability and Behaviour of Parallel-Sided Workpieces Held by a Robot Gripper
Stability and Behaviour of Parallel-Sided Workpieces Held by a Robot Gripper
Authors : Ertuğrul TAÇGIN
Pages : 55-64
View : 5 | Download : 2
Publication Date : 9999-12-31
Article Type : Makaleler
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.Keywords : Robot Grippers, mechanisms, stability, kinematic similarity