This paper dealt with a pincers-type gripper being able to grip a heavy-weighted cylindrical object having various size with itself. This gripper should be designed to seize the objects without any change of jaw shape. Grasping achieved equilibrium after the object slipped on the jaw while grasping it. To cope with this situation, we suggested the slip considered gripper design procedure based on grasping equilibrium. The obtained slip condition can provide a limit friction coefficient depending on the contact angle when initiating contact between jaw and object. Consequently, the gripping force and the required actuating force can be calculated. In order to verify the proposed slip condition, the simulations were performed using a dynamic software.

1. 서 론
2. 작업대상물과 파지환경의 정의
3. 그리퍼 형상 및 치수 선정
4. 파지력 평형을 위한 슬립 조건
5. 시뮬레이션
6. 결론
Reference

• 최정현(Robotics Research Division, DGIST) | Choi Jung Hyun
• 안진웅(Robotics Research Division, DGIST, 333, Techno Jungang Dae-ro, Hyeonpung-Myeon, Dalseong-Gun, Daegu, Korea) | An Jinung Corresponding Author
• 이상문(Robotics Research Division, DGIST) | Lee Sang Mun
• 장명언(Agency for Defense Development) | Jang Myeong Eon