How to ensure that the end gripper and the robot arm always maintain a rigid connection?

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Hacher
Posts: 15
Joined: 28 Nov 2024, 02:00

How to ensure that the end gripper and the robot arm always maintain a rigid connection?

Post by Hacher »

How to ensure that the end gripper and the robot arm always maintain a rigid connection and do not bend at the connection position when there is a load?
As shown in this figure,the gripper and the robot manipulator separate when there is a load on the gripper.
url of figure:
https://imgur.com/a/9dJTSl1

coppelia
Site Admin
Posts: 10647
Joined: 14 Dec 2012, 00:25

Re: How to ensure that the end gripper and the robot arm always maintain a rigid connection?

Post by coppelia »

Hello,

this heavily depends on which physics engine you use, and what masses/inertias has been used. The item flexing is actually a force/torque sensor that is modelled in most engines as a 6 DoF constraint. But constraints can be broken to satisfy overall constraints, etc.

So try to switch to another physics engine, or try to increase the mass and/or inertia of involved elements. Keep also the dynamics design considerations into account, mainly items 7 & 8.

Cheers

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