طراحی گیره‌ی رباتیک تغییرشکل‌پذیر با مواد دانه‌های ریز

نوع مقاله : مقاله پژوهشی

نویسندگان

1 Shahrood university of technologyS

2 شاهرود

چکیده

در این پژوهش نوع جدیدی از گیره طراحی شده است. این گیره یونیورسال برای مواردی که لازم است اجسام گوناگون با سهولت، مطمئن، سریع و بدون هیچ بازخوردی گرفته شوند پیشنهاد میشود. با افزودن یک بالن حلقوی دور محفظه مواد دانه ریز، نیروی جانبی بالن اصلی را میفشرد و اصطکاک بین محفظه و بار را افزایش می دهد. با توجه به نتایج آزمایشها در این مقاله، اصلاحات مکانیزم گیره جدید، موثر واقع شده و میزان موفقیت پنجه با توجه به پارامترهای تأثیرگذار فرموله شده است که می تواند تخمین مناسبی برای طراحی پنجه موفق ارائه کند

کلیدواژه‌ها


عنوان مقاله [English]

Design a shape-shifting robot gripper with granular material

نویسندگان [English]

  • mahdi bamdad 1
  • Arman Mardani 2
چکیده [English]

In this paper, a new kind of gripper is designed. This universal gripper is proposed where different objects should be gripped easily, reliably within rapid succession without any feedback. By adding an annular balloon around the granular bag, a lateral force pushes the main membrane and increases the friction force between the bag and the load. According to the acquired test results reported in this paper, the modification on this new robotic gripping mechanism is effective and the success rate of the gripper is formulated considering the influential parameters and it can provide a good estimation for a gripper design.

کلیدواژه‌ها [English]

  • Robotic gripper
  • Granular material
  • Lateral force
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