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Kinematic Optical Design of an Open-Close Type Gripper Mechanism

개페식 파지공구 메카니즘의 기구학적 최적 설계

  • Kim, Whee-Kuk (Dept.of Control and Instrumentation Engineering, Korea University) ;
  • Park, Joo-Young (Dept.of Control and Instrumentation Engineering, Korea University) ;
  • Yoon, Seong-Sik (Dept.of Control and Instrumentation Engineering, Korea University)
  • 김희국 (고려대학교 제어계측공학과) ;
  • 박주영 (고려대학교 제어계측공학과) ;
  • 윤성식 (고려대학교 제어계측공학과)
  • Published : 1996.06.01

Abstract

The main objective of this study is to develop a gripper mechanixm that can be employed for assembly and removal tasks of a nozzle-dam of steam genetator in the process of the nuclear reactor maintenances. Brief description of the open-close thpe gripper mechanism, its position analysis, and its kinematic analysis are given. The optimal design of the gripper mechanism with and without slipping on its two gipping surfaces is considered. As an optimal design index, the ratio of the actuator force of prismatic cylinder to gripping load is proposed. Then, based on this index the oiptimal design is carried out to identify values of optimal design parameters for the gripper dechanism.

Keywords

Gripper Mechanism;Optimal Design