文章基本信息

标题：Experimental Study on Clamping Safety Margin of a Banana Stem Gripper
本地全文：下载
作者：Zhou Yang ; Zeyu Xu ; Mohui Jin 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：17
页码：560-564
DOI：10.1016/j.ifacol.2018.08.145
语种：English
出版社：Elsevier
摘要：AbstractBanana stem gripper is an important component of banana harvesting robot. Since banana bunches is heavy, and easy to slide and fall during robot harvesting, we should figure out the clamping safety margin of banana stem gripper for reliability manipulation. The clamping safety margin is the ratio of maximum load-bearing capability to object’s weight under given applied clamping force. It is able to evaluate special gripper’s clamping ability and useful for optimizing robot gripper’s structure parameters. A test platform is designed and fabricated for studying banana stem clamping safety margin. It consists of a rack, two cylinders, a straight-line moving mechanism, two clamping bases, etc. Different types of clamping part and clamping forces are tested and compared to evaluate their clamping safety margins. Compared to profile clamping part, the destructive puncture is more suitable for clamping and spends lower clamping force. Also, the relationship between the safety margin and clamping force are given, which is significant for selecting the proper clamping force of banana stem robot grippers.
关键词：Keywordsrobot gripperbanana stemsafety marginclamping test platformclamping part