Design and numerical simulation of the new design of the gripper for manipulating of the rotational parts

• Autorzy: Basova Y. , Nutsubidze K. , Ivanova M. , Slipchenko S. , Kotliar A.

Identyfikatory

DOI

10.29354/diag/94030

• Języki publikacji: EN

Abstrakty

EN

The analysis of the field of application of gripper is carried out. Are allocated perspective areas of development of a robotics. The main difficulties in the application of kinematic schemes for gripping devices with rotary finger movement are described. The prospective application of the kinematic scheme of the gripper with a straight-parallel plane-parallel motion of the fingers is proved when manipulating an object of the "shaft" type. A new scheme of a gripper with a rectilinear plane-parallel finger movement is presented. Its design is simpler and cheaper than known devices of this type. The capability of the gripper design in the engineering analysis environment has been fulfilled. Numerous computer studies of both individual design elements and pairs of objects that are in interaction have confirmed the operability of the developed design. It is established that the frictional force in the mobile components of the gripper design is insignificant, which will not create the prerequisites for a significant increase in size.

Słowa kluczowe

EN

gripper; kinematics; computer analysis; reliability

PL

chwytak; analiza komputerowa; kinematyka; niezawodność

• Wydawca: Polskie Towarzystwo Diagnostyki Technicznej
• Czasopismo: Diagnostyka
• Rocznik: 2018
• Tom: Vol. 19, No. 4
• Strony: 11--18
• Opis fizyczny: Bibliogr. 18 poz., rys., tab.

Twórcy

autor

Basova Y.

• National Technical University «Kharkov Polytechnic Institute», Department of Technology of Mechanical Engineering and Metal-Cutting Machine Tools, 2, Kyrpychova str., 61002, Kharkov, Ukraine

autor

Nutsubidze K.

• National Technical University «Kharkov Polytechnic Institute», Department of Technology of Mechanical Engineering and Metal-Cutting Machine Tools, 2, Kyrpychova str., 61002, Kharkov, Ukraine

autor

Ivanova M.

• National Technical University «Kharkov Polytechnic Institute», Department of Technology of Mechanical Engineering and Metal-Cutting Machine Tools, 2, Kyrpychova str., 61002, Kharkov, Ukraine

autor

Slipchenko S.

• National Technical University «Kharkov Polytechnic Institute», Department of Technology of Mechanical Engineering and Metal-Cutting Machine Tools, 2, Kyrpychova str., 61002, Kharkov, Ukraine

autor

Kotliar A.

• National Technical University «Kharkov Polytechnic Institute», Department of Technology of Mechanical Engineering and Metal-Cutting Machine Tools, 2, Kyrpychova str., 61002, Kharkov, Ukraine

Bibliografia

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• 14. Kozyrev YuG. Gripping devices and tools of industrial robots: a tutorial. Moscow 2010. Rusian.
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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).