10.15660/AUOFMTE.2019-3.3502
I C Frincu, I Stroe
cezarfrincu@yahoo.com
Volume XXVIII, 2019/3
The paper presents the state of stress and deformation of the component elements of the mechanical state of a self-adaptive prehensor. The theoretical and experimental model puts into evidence the links between the component elements and the forces acting on the two axes of symmetry of the physical model. The forces generated by the objects` prehension determine the state of stresses and deformations of the elements subjected to these forces. The 3D analysis of the prehensor structure is realized with the finite element method using the CATIA software. The structural elements of the prehensor are studied on each component by applying different forces in the three directions. The forces and moments that act upon the base elements of the prehensor`s components are studied in the angular displacement generated by the drive motors. The composition of forces and moments for each component of the prehensor reveals the reaction forces appearing in the mechanical components of the proposed structure. It is taken into account that each module of the prehensor does not influence the state of tension and deformation of the prehensor assembly during the tightening of the objects.
ISSN 1583-0691, CNCSIS "Clasa B+"