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Proceedings Paper

Analysis of a simple gripping mechanism by using the virtual work method
Author(s): H. Ando; N. Muramatsu
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Paper Abstract

This paper discusses a structural analysis of a gripper with a simple gripping mechanism and clarifies deformation and gripping efficiency of the gripper. This gripper is analyzed as a rigid frame which is built-in at both ends. This structure is a statically indeterminate structure. To analyze such a structure, the virtual work method is used. Moreover, to obtain an unknown gripping force, deformation of the gripped object replaced with load cells is considered. The effectiveness of the constructed mathematical model is verified in a comparison with respect to gripping efficiency between a simulation with the model and an experimental result.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67941M (9 January 2008); doi: 10.1117/12.784421
Show Author Affiliations
H. Ando, Nagoya Univ. (Japan)
N. Muramatsu, Nagoya Univ. (Japan)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)

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