MODIFICATIONS TO THE EFFECTOR FOR MEASUREMENT OF GRIPPING FORCE

Abstract

The article describes modifications to the effector of a manipulator arm proposed in order to increase the accuracy of jaw force measurements. Gripping force measurement is performed using strain gauges. Their proper positioning and connection minimize not only the influence of the position of the centre of gravity of the manipulation object on the jaws but also the effect of temperature changes around the measuring area. The possibility of altering the magnitude of gripping force was incorporated into the robot control application. This greatly increases the security of handling and increases the number of items that can be possibly gripped. Modified effector parts were subjected to stress analysis, with emphasis on the elimination of stress peaks that would not occur in real parts. The article also describes the design of the mechanical modification of the effector, which would allow the continuous rotation of the jaws of the effector.

Recommended articles

RELATIVE ELECTRODE WEAR AT EDM OF TOOL STEEL

LUBOSLAV STRAKA, GABRIEL DITTRICH
Keywords: tool steel | Main Technological Parameters (MTP) | Material Removal Rate (MRR) | Relative Electrode Wear (REW) | Electrical Discharge Machining (EDM)

USE OF DIFFERENT SIMULATION METHODS FOR DESIGN OF EXPERIMENTAL ROVER

ROBERT PASTOR, ALES VYSOCKY, PETR SIROKY, ZDENEK KONECNY, LADISLAV KARNIK
Keywords: FEM analysis | suspension system | Kinematics | Simulation | rover

OPTIMAL PREVENTIVE MAINTENANCE SCHEDULE OF SLEWING RINGS FOR DEMANDING PRODUCTION MACHINE

LUBOSLAV STRAKA, ANTON PANDA
Keywords: diagnostic signal | slewing rings | probability | preventive maintenance | experimental equipment

INFLUENCE OF DIE CASTING FACTORS AND OF HARDENING TEMPERATURE UPON MECHANICAL PROPERTIES OF A DIE CAST

STEFAN GASPAR, TOMAS CORANIC, JAN PASKO
Keywords: mechanical properties | hardening temperature | technological factors | die cast