Uncertainty of Counteracting Force at Joints and Establishment and Analysis of the Dynamic Modeling of Grippers for Large Scale Heavy Duty Forging Manipulators

The paper presents the concept of the Response Dead Zone of counteracting force, analyzes the changing law of kinematic pairs´ counteracting forces during the operation of large scale heavy duty grippers. The dynamic equations of the gripping mechanism which takes the friction of kinematic pairs into consideration are established. On top of that, we further investigate the reasons that result in the uncertainty of the counteracting forces of kinematic pairs and the incompleteness of the mechanism dynamic model. Finally, as a conclusion, the method of the friction condition´s judgment is proposed and the fiction constraint equations are established, which make the mechanism dynamic model become complete and solvable.