The study of mechanics of deformation behaviour of service robots gripping systems

Abstract eng:
This paper presents an analysis of the gripping system and contact links with a vertical plane of contact. It focuses on comparing the classic gripping elements and elements which combined methods of gripping force deducing with the using of different physical principles (vacuum, friction and adhesion). The first part of the paper describes the behavior of suction cups used as standard during radial loading using a computer simulation depending on rigidity of an elastomer sealing rim of the suction cup. The second part illustrates structural modifications of the suction cup by means of a bearing supporting plate having a material with an adhesion layer on the contact boundary and allowing the down-pressure to be regulated depending on mechanical properties of the object kept.

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