Aspects of kinematics and dynamics of a gripping mechanism

Stefan, Amado; Constantin, Daniel; Grigore, Lucian Ștefăniță

doi:10.1109/ecai.2015.7301232

Cited by 2 publications

(2 citation statements)

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“…The robot should be affordable, if the designers meet the following requirements, simultaneously or individually: is intended only for specific missions and threats, for example pyrotechnic intervention [48]; is built modularly [49]; subsystems to be redesigned so that the solution is as simple and reliable as possible [50]; can use a disruptor [51]; should be equipped with video cameras [52]; must have an adequate lifting capacity [53]; can use X-ray systems [54]; should be equipped with omnidirectional cameras [55]; the robot must be able to communicate with an operator [56]; can easily climb stairs it can be said that only 10% of the threats targeted easily accessible open areas; should be easy to maintain and repair; must operate in a wide range of terrains [57]; arm should have high mobility [58].…”

Section: Requirements For Crawler Mobile Robots Resulting From An Anonymized Market Studymentioning

confidence: 99%

Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot

et al. 2021

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Today, terrestrial robots are used in a multitude of fields and for performing multiple missions. This paper introduces the novel development of a family of crawling terrestrial robots capable of changing very quickly depending on the missions they have to perform. The principle of novelty is the use of a load-bearing platform consisting of two independent propulsion systems. The operational platform, which handles the actual mission, is attached (plug and play) between the two crawler propulsion systems. The source of inspiration is the fact that there are a multitude of intervention robots in emergency situations, each independent of the other. In addition to these costs, there are also problems with the specialization of a very large number of staff. The present study focused on the realization of a simplified, modular model of the kinematics and dynamics of the crawler robot, so that it can be easily integrated, by adding or removing the calculation modules, into the software used. The designed model was integrated on a company controller, which allowed us to compare the results obtained by simulation with those obtained experimentally. We appreciate that the analyzed Explosive Ordnance Disposal (EOD) robot solution represents a premise for the development of a family of EOD robots that use the same carrier platform and to which a multitude of operational platforms should be attached, depending on the missions to be performed.

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Section: Requirements For Crawler Mobile Robots Resulting From An Anonymized Market Studymentioning

confidence: 99%

Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot

et al. 2021

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“…The clamping performance of the Pile Pending Device (PPD) was researched by the company IHC in 2015 [16]. The conclusion from their research was that when the number of uniformly distributed wedge assemblies covers more than 50% of the circumference of the base ring, the clamping effect is better [17].…”

Section: Introductionmentioning

confidence: 99%

Analysis and Experiments of Embedded Gripping Mechanism Used in Large-scale Tools Holding Up Pile Foundation in Ocean

Wang

Zhang

Wang

2019

Polish Maritime Research

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With the rapid development of the marine economy and continuous improvement of the industry, the scale of the offshore engineering is increasing. This raises interest in studying, theoretically and experimentally, gripping and bearing mechanisms for large-scale holding and lifting tools used in foundation pile installations. In this paper, the embedded gripping mechanism is studied based on the theory of elastic-plastic mechanics. The embedded and bearing performance of the tooth is simulated and the influence factors are studied. In addition, the device used in the simplified embedded experiment on the tooth of the embedded block is designed. The relationship between embedded depth, load, and tooth profile angle is identified and validated. Meanwhile, the embedded performance of linear and ring type teeth is compared experimentally in order to select the suitable type of tooth for various situations. This comparison makes the basis for designing an upending gripper for the marine pile foundation, which can realize the operation of holding the pile to prevent its falling.

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Aspects of kinematics and dynamics of a gripping mechanism

Cited by 2 publications

References 1 publication

Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot

Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot

Analysis and Experiments of Embedded Gripping Mechanism Used in Large-scale Tools Holding Up Pile Foundation in Ocean

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