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This paper presents a multi-level speed planning based capturing strategy. A kind of widely used simultaneous three-fingered end-effectors is selected to conduct the capturing strategy research. The mechanical characteristics of the end-effector and the grapple process are analyzed first, followed by the dynamic model of the system. The capturing speed is planned with the information from the positional...
A contact model has been presented which assume that the contact forces between the work-piece and the tongs are simplified as the four resultant forces with friction point contact. And the contact forces are calculated based on this contact model. To simplify the contact status, a contact model with spring-damper system is presented by considering the deformation of the work-piece in this paper....
Whether the gripper of a forging manipulator can achieve stable gripping depends a lot on the position and constraints of contact points. Therefore the analysis of contact status between the gripper and work piece is very important for the evaluation of the capability and reliability of the forging manipulator. In this paper, the contact forces of static stable gripping are analyzed by space decomposition...
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