Contact Force Analysis of Moving Robot Arms

• Main Authors: Lin, Dong-Ying, 林東瑩
• Other Authors: Liu, Chao-Hwa
• Format: Others
• Language: zh-TW
• Published: 1995
• Online Access: http://ndltd.ncl.edu.tw/handle/55262593869403158048

碩士 === 淡江大學 === 機械工程研究所 === 83 === 　　Robot fingers holding a work piece rotates together with a robot arm. To ensure the work piece does not separate from the fingers, appropriate grasping forces must be applied. Equations of motion of the work piece are derived in this thesis. Coulomb's law of friction is imposed to obtain critical normal contact forces for the work piece. Two kinds of critical forces are found. The first kind is the minimum force required to prevent separation, and the second kind is the maximum force the fingers can apply so that the work piece dose not move away. These critical values are dependent upon grasp angle, coefficient of friction, angular prosition, angular velocity, and angular acceleration of the arm. 　　Only symmetrical work piece are considered in the thesis. Two special cases, namely, the impending motions are in the centripetal or the centrifugal directions, are considered first. The dependence of critical contact forces upon grasp angle, oefficient of friction, and angular velocity of the arm are discussed. Physical meanings of these relations are also given. General cases are also studied and the dependence of the critical contact forces upon the above mentioned factors are discussed.