Abstract
ABSTRACT Scissors and tongs- type grippers are two of the simplest and most rugged categories of mechanical end-effectors available. A method is investigated which enables them to pick up cylindrical objects of different diameters concentrically, a feature normally possessed only by the more complex and less durable parallel-closure gripping mechanisms. The proposed method involves fitting special jaws with curved profiles to the grippers. The paper begins with a derivation of the basic equations describing the jaw profiles. This is followed by an analysis of the geometrical parameters which govern their overall dimensions and a discussion of how these parameters should be selected to achieve compact jaw designs. Other topics studied in the paper are the systematic approximation of the mathematically-exact profiles derived in earlier sections with simpler curves to facilitate their machining and the design of jaws to attain kinematically-accurate three-point gripping. Finally, an interactive CAD/CAM software package developed to automate the design and manufacture of the jaws is presented.
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References
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© 1985 Department of Mechanical Engineering University of Birmingham
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Pham, D.T., Yeo, H.S. (1985). CAD/CAM of Jaws for Robot Grippers. In: Tobias, S.A. (eds) Proceedings of the Twenty-Fifth International Machine Tool Design and Research Conference. Palgrave, London. https://doi.org/10.1007/978-1-349-07529-4_23
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DOI: https://doi.org/10.1007/978-1-349-07529-4_23
Publisher Name: Palgrave, London
Print ISBN: 978-1-349-07531-7
Online ISBN: 978-1-349-07529-4
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