Synthesis of a mechanism for clamping a drilling robot’s cargo

\nRobotics is developing rather intensively in Russian oil and gas industry today. Robotic drilling systems provide cost reduction and increase of work safety. Drilling robots’ gripping devices are designed for gripping, transporting, mounting, rotating massive cylindrical bodies. The analysis of the Russian adopted classification of gripper devices for industrial robots has shown that the existing schemes of mechanisms do not allow to realize a number of specific requirements to the gripper devices of drilling robots: a wide range of grip diameters and providing the possibility of rotation of the gripped body. The paper is devoted to geometrical synthesis of a gripper mechanism for a drilling robot. In the work the scheme of gripper mechanism is offered which provides the possibility of gripping and rotating massive cylindrical bodies of a wide range of diameters. An analytical and kinematic models of such a mechanism are developed. The analytical model of the mechanism includes a set of mathematical dependences describing the motion of all the links. We have developed the Mathcad program, by means of which we have determined the optimal parameters of the links of the mechanism in order to achieve the widest range of capture diameters.\n