Study of the Influence of Structural Parameters of Robot Gripping Devices on the Total Clamping Forces of Parts Considering the Ultimate Strength of the Part

Abstract

The increasing integration of industrial robots into modern automated and flexible manufacturing systems requires highly reliable and precise gripping mechanisms capable of handling parts without causing damage. This is particularly critical for thin-walled, lightweight, and precision components, which are highly sensitive to local contact stresses. The present study focuses on improving the methodology for determining total clamping forces in prismatic robot grippers, taking into account both structural parameters of the gripping device and the ultimate strength of the handled part .

The paper proposes an enhanced analytical approach based on a rational force transmission model, where resultant forces are assumed to pass through both the geometric center of the gripping prism and the center of mass of the workpiece. This assumption minimizes additional bending moments and ensures a more uniform distribution of contact stresses. The developed mathematical model incorporates key influencing factors such as the prism angle (α), displacement of prism vertices (φ), direction of inertial forces (β), friction conditions, and dynamic loads arising during robot motion.

Analytical expressions for determining the total clamping force are derived, demonstrating that a decrease in the prism angle leads to a significant increase in the resultant clamping force. Additionally, it is shown that shifting the prism vertices toward the gripper increases the clamping force, while the direction and magnitude of inertial forces substantially affect gripping conditions, especially during dynamic operations. The study also highlights the critical importance of maintaining contact pressure below allowable material stress limits, particularly for thin-walled components, where even minor overloads can result in plastic deformation, microcracks, or loss of dimensional accuracy.

The research includes parametric analysis supported by graphical dependencies illustrating the influence of structural and operational parameters on clamping forces. Based on the obtained results, recommended ranges of design parameters for vertically oriented grippers operating under combined motion conditions are established. It is shown that optimal performance can be achieved by selecting appropriate prism geometry, controlling clamping force, increasing contact area, and implementing compliant gripping surfaces.

Furthermore, the study emphasizes the role of modern technologies such as force sensors, adaptive control systems, and CAE-based simulation tools in ensuring real-time monitoring and adjustment of gripping forces. These approaches enable enhanced reliability, reduced defect rates, and improved safety in robotic manufacturing processes.

Overall, the proposed methodology contributes to achieving a balanced compromise between secure part fixation and prevention of structural damage, thereby improving the efficiency, stability, and adaptability of industrial robotic systems in advanced manufacturing environments.