USING THE OPERATING PRINCIPLE OF FRACTAL VICE IN THE DESIGN OF ADAPTIVE GRIPPERS

Abstract

The use of industrial robots in industry is an unalternative way to increase the productivity and quality of modern production. For many years, the most popular robotic operation compared to other operations has been robotic manipulation of production objects. Industrial robots, in which the working body is a gripper, can perform a variety of tasks that have traditionally been inherent in human hands, and can use grippers in a very wide range of gripping and holding various objects. However, despite the large number of grippers that currently exist on the industrial market, there are still many tasks that are very difficult or, sometimes, even impossible to perform for a gripper. This clearly indicates a great demand for original designs of adaptive grippers that will be able to compete with human hands. This article is devoted to improving the methods of synthesizing new designs of adaptive mechanical grippers by using the principle of action of fractal vises. The purpose of this article is to solve the problem of synthesizing new variants of designs of adaptive mechanical grippers. The article considers the design features of various fractal vices, which were invented at the beginning of the last century. Using the results of the analysis of the principle of operation of fractal vices and the excellent advantages of the latter in terms of the versatility of gripping parts on curved surfaces, the possibility of designing a whole range of new original designs of adaptive mechanical grippers for industrial robots or manipulators for transporting explosive objects, which can be installed on mobile platforms, is substantiated. The article presents several variants of the designed designs of new mechanical grippers, the designs of which require further careful research.