The similarity design of heavy forging robot grippers

Abstract

In order to design and study the gripping mechanism of heavy forging robots and to save money and delivery-time, it is necessary to optimize the structural dimensions of the gripper, and design a downsizing model gripper based on similarity theory, which can be had experiments to test the physical features and performances of the prototype of heavy grippers. This paper has studied the methods of similarity design and dimension optimization of the gripper mechanisms of heavy forging robots. Firstly, by using similarity theory, the similar criterion and similar indicators of the gripping system are presented, and the relationship between the geometry similarity ratio and other parameters' similarity ratio is defined. Secondly, based on the design requirement of the gripping design, the non-dimensional objective function is established. By using multi-objective optimization genetic algorithm, the optimization of the push-bar gripper is carried out. Finally, based on the simulation of a model and a prototype and the relationship of parameters of the gripping systems, the similarity of the experimental models is analyzed, demonstrating the feasibility of the similarity design for heavy forging robot grippers. © 2009 Springer-Verlag Berlin Heidelberg.