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Pneumatic muscle-actuated adjustable compliant gripper system for assembly operationsDeaconescu, Tudor ; Deaconescu, AndreaThe aim of this paper is to present and discuss an innovative, constructive solution for a gripper system that can be attached to an industrial robot for assembly operations. The construction of this ... gripper system is based on a linear pneumatic muscle used as the actuator and the transmission of motion by gear-and-rack mechanisms. Air compressibility renders pneumatic muscle behaviour inherently compliant; this favours automated assembly applications as it allows the correction of inevitable lateral and angular misalignments in mating operations. Therefore, the jamming of a peg-like object can be avoided when this is introduced into a hole with tight clearance. In addition to the construction of the gripper system, this paper discusses its actuation, as well other characteristicsSource: Strojniški vestnik = Journal of mechanical engineering. - ISSN 0039-2480 (Vol. 63, no. 4, Apr. 2017, str. 225-234, SI 34)Type of material - article, component partPublish date - 2017Language - englishCOBISS.SI-ID - 15474715
Author
Deaconescu, Tudor |
Deaconescu, Andrea
Topics
assembly |
compliance |
grippers |
manipulators |
pneumatic muscles |
stiffness |
montaža |
podajnost |
prijemala |
manipulatorji |
pnevmatične mišice |
togost
source: Strojniški vestnik = Journal of mechanical engineering. - ISSN 0039-2480 (Vol. 63, no. 4, Apr. 2017, str. 225-234, SI 34)
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Deaconescu, Tudor | |
Deaconescu, Andrea |
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