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- Autors
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Pohrebniak R.
- Issue
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Hoisting and transport equipment, 2025, №2(70)
- Pages
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16-26
- DOI
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10.15276/pidtt.2.70.2025.02
- Abstract
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Mechanisms without redundant connections, including gripper mechanisms, are more reliable, have a higher efficiency of operation and are statically determined. It is difficult to design such mechanisms without thorough structural analysis.
A structural analysis of the paired parallelogram schemes of the gripping devices, which are built on the basis of the central and deaxial crank-slider mechanisms and have a variable structure with external one-way connections, was performed. The number of internal and external redundant connections in the contours of the mechanisms at different stages of their functioning is determined. Their location in the contours is determined and actions are proposed to eliminate them in the internal contours and reduce the number of harmful redundant connections in the external contour of the mechanisms.
The elimination of frictional excess connections in the outer contour of the mechanisms by changing the shapes of the contacting surfaces of the clamping elements of the gripper is considered.
- Keywords
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mobility of mechanism; repeated connections; external connections, one-way connections
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