Gripping Force Model and Influence Factors of Gripping Device for Heavy Forging Manipulators

摘要

A mathematic model of point contact friction force between gripper jaw and workpiece was established based on the wrench theory and the principle of force equivalence. The eccentric of workpiece was studied and its effect on the gripping force of the jaw was analyzed. This model revealed the factors influencing the variation of gripping force under heavy load conditions and provided a theoretical support for studying the load-carrying capability of stable gripping.