Finite Element Analysis of Robot Finger Grasping
碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 101 === Contact analysis in robot grasping is performed in this thesis. Commercial software ANSYS is used in finite element analysis. Two dimensional cylindrical contact analysis and axisymmetric spherical contact analysis are first performed, and the results are com...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2013
|
| Online Access: | http://ndltd.ncl.edu.tw/handle/96657323215756027899 |
| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 101 === Contact analysis in robot grasping is performed in this thesis. Commercial software ANSYS is used in finite element analysis. Two dimensional cylindrical contact analysis and axisymmetric spherical contact analysis are first performed, and the results are compared to Hertz solutions.
Then two situations are treated in this study: cases with linear tightening displacements and cases with rotational tightening displacements. In the first situation, translational tightening displacements may be imposed by inclined robot fingers. The relation between normal grasping force and linear tightening displacements are obtained for various inclination angles of the fingers, and for cylinders with various material properties. Also the critical linear displacement that causes yielding is obtained for an Aluminum cylinder. In the second situation, displacement boundary conditions to simulate rotational tightening are obtained. Results obtained by imposing these conditions agree well with estimated values found by using fixed-end beam formula.
|
|---|