The state of the modular element structure of a prehensor through virtual prototyping

Product Design, Robotics, Advanced Mechanical and Mechatronic Systems and Innovation Conference

工业技术（总论）;机械制造

Frincu, I.C.^1 ; Stroe, I.^1

Product Design, Mechatronics and Environment Department, Transilvania University, Braov, Romania^1

关键词: Component structure;    Manipulated objects;    State of stress;    Structural scheme;    System modeling;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/514/1/012024/pdf
DOI  :  10.1088/1757-899X/514/1/012024

学科分类：工业工程学

来源: IOP

【 摘 要 】

The paper presents the study of the geometric scheme of the structure of a prehensor module. The prehensor has the role of generating the force required to manipulate an object respecting the prehensor's plan with the manipulated object. It is proposed the static concept of the prehensor according to the geometric parameters of the prehensat object. Starting from the structural scheme of the proposed module, the 3D component structure is generated using the Catia software. The kinematics of the studied structure is presented and the system modeling prerequisites are created through the Adams program. Importing the system into Adams simulates the kinematics of the proposed structure. The state of stresses and deformations of the prehensor module is determined and presented. The prehensor module of this type is designed for the reliability of the prehensor.