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Konzeption einer autonom wechselbaren Greiffinger-Koppelstelle mit Übertragung eines mechanischen Freiheitsgrades, Überlastauslösung und elektrischer Kontaktierung für Sensorik

Heumos, Martin (2015) Konzeption einer autonom wechselbaren Greiffinger-Koppelstelle mit Übertragung eines mechanischen Freiheitsgrades, Überlastauslösung und elektrischer Kontaktierung für Sensorik. Master's. DLR-Interner Bericht. 572-2015/09, 120 S.

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Abstract

This thesis shows a concept of a coupling point for gripper fingers. These gripping fingers are part of a three-finger-gripper for a new research robot at the DLR (German Areospace Center). Changing the gripper fingers gives high flexibility with regard to the feasible gripping tasks and a simple structure of the three-finger-gripper with only four degrees of freedom. The concept includes a PCB with spring loaded contacts for electical connection and a conical dovetail joint for mechnical connection. The mounting direction of the coupling point is in the acutation direction of the linear drive for the gripper finger. The transmission of the mechanical degree of freedom is achieved with two racks and pinions and the overload release is bases on the friction effect. The realisation of the concept is critical due to the geometrical boundaries which leads to gripping forces below the requirements. Some possible solutions are contemplated and unconsidered areas for alternative solutions are shown.

Item URL in elib:https://elib.dlr.de/95966/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Konzeption einer autonom wechselbaren Greiffinger-Koppelstelle mit Übertragung eines mechanischen Freiheitsgrades, Überlastauslösung und elektrischer Kontaktierung für Sensorik
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Heumos, Martinmartin.heumos (at) dlr.deUNSPECIFIED
Date:2015
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:120
Status:Published
Keywords:Koppelstelle Überlastsicherung Kollisionschutz
Institution:Hochschule für angewandte Wissenschaften München
Department:Fakultät für angewandte Naturwissenschaften und Mechatronik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Heumos, Martin
Deposited On:30 Apr 2015 13:26
Last Modified:30 Apr 2015 13:26

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