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首页> 外文期刊>South African journal of industrial engineering >TESTING FLEXIBLE GRIPPERS FOR GEOMETRIC AND SURFACE GRASPING CONFORMITY IN RECONFIGURABLE ASSEMBLY SYSTEMS
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TESTING FLEXIBLE GRIPPERS FOR GEOMETRIC AND SURFACE GRASPING CONFORMITY IN RECONFIGURABLE ASSEMBLY SYSTEMS

机译：在可重构组件系统中测试柔性抓爪的几何和表面抓持一致性

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摘要

The ongoing development in manufacturing technology facilitates flexibility in production and faces challenges of product handling. Flexibility was required in the form of adaptable grippers for robotic arms in pick-and-place procedures for reconfigurable assembly systems. A conceptual system was designed and tested according to the surface geometric conformity of grasped objects. The system proposed was a biologically inspired Fin Ray Effect? gripper. Grasping occurs due to the deformation of the rib structure of the appendage. The appendages were simulated for conformity by means of a finite element analysis, and performance was analysed by means of a physical sample mass test and a force test.
机译：制造技术的不断发展促进了生产的灵活性，并面临产品处理的挑战。需要灵活的形式，即在可重配置的组装系统的取放过程中，机械臂采用可适应的抓爪。根据所抓物体的表面几何一致性设计并测试了概念系统。提出的系统是生物学启发的Fin Ray效应？抓手。由于附件的肋骨结构变形而发生抓握。通过有限元分析对附属物的贴合度进行仿真，并通过物理样品质量测试和力测试分析性能。

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