Analysis of a simple gripping mechanism by using the virtual work method

H. Ando; N. Muramatsu

doi:10.1117/12.784421

9 January 2008 Analysis of a simple gripping mechanism by using the virtual work method

H. Ando, N. Muramatsu

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67941M (2008) https://doi.org/10.1117/12.784421
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

This paper discusses a structural analysis of a gripper with a simple gripping mechanism and clarifies deformation and gripping efficiency of the gripper. This gripper is analyzed as a rigid frame which is built-in at both ends. This structure is a statically indeterminate structure. To analyze such a structure, the virtual work method is used. Moreover, to obtain an unknown gripping force, deformation of the gripped object replaced with load cells is considered. The effectiveness of the constructed mathematical model is verified in a comparison with respect to gripping efficiency between a simulation with the model and an experimental result.

Citation Download Citation

H. Ando and N. Muramatsu "Analysis of a simple gripping mechanism by using the virtual work method", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67941M (9 January 2008); https://doi.org/10.1117/12.784421

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