A case study is presented outlining the design of robotic gripper end linkages for grasping heated ingots as they are fed into and move through progressive die stages within an automated forge press. Design constraints include ingot weight and temperature, transfer speed, and environmental influences. The design of gripper end linkages considers the analysis of gripper loads generated by the dynamics of high speed motion, the design of structure for strength and stiffness, and the analysis of heat transfer. To maintain the quality of forged parts, the end linkage is configured to allow safe reliable transport of the ingot without damaging the ingot surface. Finite element methods are used to model both structural and thermal design characteristics. The influence of convection and radiation on thermal performance is considered to ascertain the impact of each heat transfer mode upon cooling of the end linkage and gripper mechanism. Sufficient cooling is required to effectively achieve thermal isolation of the linkage from its actuator. The analysis leads to establishment of a design methodology and a proposed end linkage configuration which satisfies the myriad of design constraints. The unit is currently undergoing prototype fabrication and test.
|Original language||English (US)|
|Journal||American Society of Mechanical Engineers (Paper)|
|State||Published - Dec 1 1997|
|Event||Proceedings of the 1997 ASME International Mechanical Engineering Congress & Exposition - Dallas, TX, USA|
Duration: Nov 16 1997 → Nov 21 1997
All Science Journal Classification (ASJC) codes
- Mechanical Engineering