Optimum synthesis of a 10-link gripping mechanism using new grasping indices
| Autor: | Kuo-Mo Hsiao, Wen Yi Lin |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Index (economics) business.industry General Engineering 02 engineering and technology Contact force Constraint (information theory) Mechanism (engineering) 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Transmission (telecommunications) Control theory Grippers Product (mathematics) Trigonometric functions business Simulation |
| Zdroj: | Journal of the Chinese Institute of Engineers. 39:809-815 |
| ISSN: | 2158-7299 0253-3839 |
| DOI: | 10.1080/02533839.2016.1187086 |
| Popis: | When the traditional grasping index is used as an objective function, the optimized mechanism obtained offers good force transmission performance but unsound motion transmission for a 10-link gripping mechanism. Therefore, we first propose a new grasping index that is the product of the traditional grasping index and the effective force ratio. The effective force ratio reflects the motion transmission for the output links. The proposed grasping index is similar to the force transmission index discussed in the literature; however, different views of the physical meaning of the two components of the index and the necessity of the effective force ratio for optimum synthesis of the mechanism are presented. The second new grasping index proposed is the product of the first grasping index and the cosine value of the angle between the contact force and the contact velocity, originally used as a constraint. Using these new grasping indices, one can obtain sound optimum mechanism designs with a very small ... |
| Databáze: | OpenAIRE |
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