Kinematic Design of a Radius-Variable Gripper with 1-D.O.F. Used in High-Voltage Hot-Line Cleaning Robot

Kinematic Design of a Radius-Variable Gripper with 1-D.O.F. Used in High-Voltage Hot-Line Cleaning Robot

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This paper presents the design of a novel radius-variable-gripper (RVG) for use as end-effector of high-voltage hot-line cleaning robot (HVCR). A eight-bar linkage mechanism is proposed to obtain the aim of 1-dof acutuation. According to the shape of insulators, the dimension design and kinematic an...

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Main Authors: Yi Gu, Xinhua Weng, Ruqing Yang, Tao Song
Format: Article
Language:English
Published: SAGE Publishing 2008-03-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/5653
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spelling doaj-94e886a7ee22497fb50c1a00f77083182020-11-25T03:24:08ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142008-03-01510.5772/565310.5772_5653Kinematic Design of a Radius-Variable Gripper with 1-D.O.F. Used in High-Voltage Hot-Line Cleaning RobotYi Gu0Xinhua WengRuqing YangTao Song Research Inst. of Robotics, Shanghai Jiaotong Univ., Shanghai 200240, ChinaThis paper presents the design of a novel radius-variable-gripper (RVG) for use as end-effector of high-voltage hot-line cleaning robot (HVCR). A eight-bar linkage mechanism is proposed to obtain the aim of 1-dof acutuation. According to the shape of insulators, the dimension design and kinematic analysis of RVG have been carried out. The optimization is performed to locate the joint points of arm segments, on which the brushes are mounted, approximately on the position circles in the whole opening-and-closing process of RVG. The prototype has been given finally, and it is showed that RVG is feasible to this special application.https://doi.org/10.5772/5653
collection DOAJ
language English
format Article
sources DOAJ
author Yi Gu
Xinhua Weng
Ruqing Yang
Tao Song
spellingShingle Yi Gu
Xinhua Weng
Ruqing Yang
Tao Song
Kinematic Design of a Radius-Variable Gripper with 1-D.O.F. Used in High-Voltage Hot-Line Cleaning Robot
International Journal of Advanced Robotic Systems
author_facet Yi Gu
Xinhua Weng
Ruqing Yang
Tao Song
author_sort Yi Gu
title Kinematic Design of a Radius-Variable Gripper with 1-D.O.F. Used in High-Voltage Hot-Line Cleaning Robot
title_short Kinematic Design of a Radius-Variable Gripper with 1-D.O.F. Used in High-Voltage Hot-Line Cleaning Robot
title_full Kinematic Design of a Radius-Variable Gripper with 1-D.O.F. Used in High-Voltage Hot-Line Cleaning Robot
title_fullStr Kinematic Design of a Radius-Variable Gripper with 1-D.O.F. Used in High-Voltage Hot-Line Cleaning Robot
title_full_unstemmed Kinematic Design of a Radius-Variable Gripper with 1-D.O.F. Used in High-Voltage Hot-Line Cleaning Robot
title_sort kinematic design of a radius-variable gripper with 1-d.o.f. used in high-voltage hot-line cleaning robot
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2008-03-01
description This paper presents the design of a novel radius-variable-gripper (RVG) for use as end-effector of high-voltage hot-line cleaning robot (HVCR). A eight-bar linkage mechanism is proposed to obtain the aim of 1-dof acutuation. According to the shape of insulators, the dimension design and kinematic analysis of RVG have been carried out. The optimization is performed to locate the joint points of arm segments, on which the brushes are mounted, approximately on the position circles in the whole opening-and-closing process of RVG. The prototype has been given finally, and it is showed that RVG is feasible to this special application.
url https://doi.org/10.5772/5653
work_keys_str_mv AT yigu kinematicdesignofaradiusvariablegripperwith1dofusedinhighvoltagehotlinecleaningrobot
AT xinhuaweng kinematicdesignofaradiusvariablegripperwith1dofusedinhighvoltagehotlinecleaningrobot
AT ruqingyang kinematicdesignofaradiusvariablegripperwith1dofusedinhighvoltagehotlinecleaningrobot
AT taosong kinematicdesignofaradiusvariablegripperwith1dofusedinhighvoltagehotlinecleaningrobot
_version_ 1724603170176368640

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