2207 パイプの3次元曲げ加工機用大発生力把持機構の開発 : 大きな曲率で2次元形状に曲げられたパイプ用の把持機構の提案(機構の開発とシミュレーション(機械設計と機構),一般講演)

概要

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Draw bending is a method of bending a straight pipe into complex 3-dimensional shaped pipe. This method needs a gripper, which grasps complex 3-dimensional shaped pipe with large gripping force and small contact pressure. The purpose of this research is to develop this gripper. In the present paper, the gripper which can grasp a 2-dimensional shaped pipe with large curvature is proposed. The gripper is composed of multiple gripping units. Relationship between kinematic parameters of the gripper and the minimum radius of curvature is geometrically analyzed. Relationship between the parameters and the maximum pulling force is theoretically and experimentally investigated. The result shows that the proposed gripper can grasp a 2-dimensional shaped pipe which has large curvature.
2010-04-18