ANALIZA COMPARATIVA A UNOR PREHENSOARE ANTROPOMORFE PENTRU IDENTIFICAREA UNEI VARIANTE OPTIME

Autor/autori: Dr. ing. Marian BOLBOE, Prof. univ. dr. ing. Eur Ing. Ionel STARETU

Rezumat: Prehesiunea este deosebit de importanta in operatiile de manipulare si mai ales montare robotizata. Prehensiunea unor piese de forme si configuratii variate a necesitat trecerea de la prehensoarele cu bacuri la prehensoarele antropomorfe, cu degete. In ultimii ani s-au realizat si experimentat un numar important de astfel de prehensoare, fara a se obtine variante relativ simple, fiabile si la preturi reduse, ceea ce a impiedicat multiplicarea aplicatiilor si utilizarea lor pe scara larga. Plecand de la aceasta situatie, in lucrare se prezinta o analiza comparativa a unor prehensoare antropomorfe reprezentative in scopul identificarii caracteristicilor constructive si functionale ale unui prehensor optimizat. In urma aplicarii metodei de analiza multicriteriale se identifica particularitatile unui astfel de prehensor, pentru care se propune o schema structurala si se prezinta proiectul CAD

Cuvinte cheie: prehensiune robotizata, prehensor cu bacuri, prehensor antropomorf, analiza multicriteriala, proiect CAD


Abstract: Prehension is particularly important in handling tasks and especially robotic assembly. The gripping of items with various shapes and configurations required the transition form of the grippers with jaws to the anthropomorphic grippers with fingers. A significant number of such grippers were made and tested in the last few years, but no relatively simple, reliable and low priced solution was found. This made the multiplication of applications and their widespread use impossible. Based on this situation, this paper presents a comparative analysis of anthropomorphic grippers, which are representative to identify structural and functional characteristics of an optimized gripper. After applying the multi-criteria analysis method, the features of such a gripper were identified, a structural scheme was proposed and a CAD project was presented

Keywords: robotic gripping, gripper with jaws, anthropomorphic gripper, multi-criteria analysis, CAD project

 

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