Design fundamentals of a reconfigurable robotic gripper system

被引：38

作者：

Kolluru, R ^{[1
]}

Valavanis, KP

Smith, SA

Tsourveloudis, N

机构：

[1] Univ SW Louisiana, Ctr Adv Comp Studies, Robot & Automat Lab, Lafayette, LA 70504 USA

[2] Univ SW Louisiana, Apparel CIM Ctr, Lafayette, LA 70504 USA

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS | 2000年 / 30卷 / 02期

关键词：

apparel; dynamic analysis; limp material; robotic grippers; simulation; static analysis;

D O I：

10.1109/3468.833099

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper discusses the design and modeling fundamentals of a multi-degree-of-freedom reconfigurable robotic gripper system (RGS), designed to automate the process of limp material handling, reliably and without distortion, deformation, and/or folding. The reconfigurable gripper design draws upon the authors' previously reported flat surfaced, filed-dimensions gripper system [1]. The design consists of four arms in a cross-bar configuration, with a flat surfaced, fixed dimensions, suction-based gripper unit mounted on each of the arms. The kinematic and dynamic performance of the reconfigurable RGS is analyzed theoretically and then validated using Integrated Design Engineering Analysis Software (I-DEAS) simulation software.

引用

页码：181 / 187

页数：7

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