Dynamics Research Of The Gripper Device Based On KED Method

As the development of National heavy industry,the demand for the largetonnage forge piece becomes bigger and the requirement of gripper’s performance becomes more strict.even more,the gripper works in the intricate vibratory condition,so it is significant to do the research on the gripper’s dynamic characteristics.the work is done as below:At first,by the vector method the kinematics model was built;then the force analysis was done between the gripper’s mouth and forge piece.Further more,the force analysis was done at arbitrarily angle of the gripper mouth,and the angle of the gripper mouth was found when the gripper was at the maximum force state, and the gripper’s dynamic static analysis was done when it was in the response dead zone of counteracting force. And the force analysis model of hinges was built by by correlation constrain method,then mapping relation of thrust and clamping force was deduced,then the force analysis of the gripper was done when it was in the critical state;Second, according to the KED method which is identified as a simplified Finite element method, dynamics model of the gripper was built,which includes the factors of elasticity and the friction of kinematic pair.and it is found that the inherent frequency of the gripper is changed as its the position shape,and the influence of the structure size on the inherent frequency is deduced. The elastodynamics differential equations was solved by numerical method,and the elastic displacement of key hinges is calculated when the gripper is during various work condition. How did the friction of kinematic pair,the dimensions of component and frequency of outside force work on the elastic displacement was researched;Next,the gripper’s elastodynamics model was built by using ADAMS/Vibration software,then the inherent frequency of the gripper is calculated and modal value and modal participation factor was solved;The elastic displacement of key hinges was analysed in the condition whether there is damp or not,and it was found that frictional damping had the Vibration reduction in the gripper. In the end,the gripper was designed which loads2×105N*M.It was proved that the simulation of the influence of the frequency of outside force work on the elastic displacement was right in some work conditions. The elastic displacement simulation of key hinges was the physical truth.In this paper,The results of static stress analysis and elastodynamics analysis can be used in the gripper’s structure design and control optimization.Such methods can be extended in some similar mechanism.