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Abstract：
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For the problems of low efficiency for manual overturning and large safety risk in stamping process of welding tailored blank (WTB) for automobile, according to the working principle of clamping and overturning for WTB, a mechanical gripper of overturning robot driven by double sliders was designed. First, the minimum clamping force needed in overturning process of mechanical gripper was gained by theoretical analysis, and the appropriate driving motor was selected. Then, the gripper structure was designed in three dimensions, and the clamping and overturning process of gripper for WTB were analyzed in kinematics and dynamics. The results show that the critical equivalent thrust force calculated by the theory completes the overturning of WTB with the maximum thickness for general vehicles, and the variation laws of clamping force with overturning speed and equivalent thrust force are obtained. In addition, the mechanical gripper has the advantages of high clamping efficiency, strong adaptability and slow impact to provide the basis for the further research on the adaptive clamping and overturning of manipulator gripper.
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Funds：
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国家级大学生创新创业训练计划项目 (201810488026);国家自然科学基金资助项目(51505348)
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AuthorIntro：
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孙朝阳（1998-），男，本科，E-mail：1059847415@qq.com；通讯作者：李贵（1983-），男，博士,副教授，E-mail：leegui2030@wust.edu.cn
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Reference：
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