{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,5,24]],"date-time":"2023-05-24T09:40:05Z","timestamp":1684921205207},"reference-count":4,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":6826,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1990,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>For ease of manufacture, axisymmetric components produced by processes such as forging, casting and moulding are often designed with a taper angle. This paper presents a family of devices for handling such components by their tapered portion. The devices are essentially finger tips, or jaws, to be fitted to standard scissor-type robot grippers. The jaws possess a three-dimensional profile constructed as a stack of<jats:italic>v<\/jats:italic>-shaped planar curves. The special jaw profile enables components of different diameters and taper angles to be gripped concentrically without calling for complex movements to reposition the gripper. The equations describing two categories of profile are derived and the optimum selection of profile parameters to yield compact jaws to grip components of a wide range of dimensions is discussed in the paper.<\/jats:p>","DOI":"10.1017\/s0263574700000084","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:20:22Z","timestamp":1236691222000},"page":"223-230","source":"Crossref","is-referenced-by-count":1,"title":["Optimum design of gripper jaws for tapered components"],"prefix":"10.1017","volume":"8","author":[{"given":"D.T.","family":"Pham","sequence":"first","affiliation":[]},{"given":"M.J.","family":"Nategh","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700000084_ref002","doi-asserted-by":"crossref","unstructured":"2. Pham D.T. and Yeo S.H. \u201cCAD-CAM of Jaws for Robot Grippers\u201d Proc. 25th Int. Machine Tool Design and Research Conference, Birmingham (04, 1985) pp. 201\u2013211.","DOI":"10.1007\/978-1-349-07529-4_23"},{"key":"S0263574700000084_ref004","doi-asserted-by":"publisher","DOI":"10.1007\/BF02604336"},{"key":"S0263574700000084_ref003","first-page":"229","volume-title":"Robot Grippers","author":"Pham"},{"key":"S0263574700000084_ref001","unstructured":"1. Pham D.T. and Ruskin L.S. , \u201cThe Design and Development of Versatile Grippers for Industrial Robots\u201d Proceedings of IEE Seminar on UK Robotics Research, London, December, 1983, IEE Digest No 1983\/104 1983) pp. 41\u201344."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700000084","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,5,24]],"date-time":"2023-05-24T09:27:56Z","timestamp":1684920476000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700000084\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,7]]},"references-count":4,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1990,7]]}},"alternative-id":["S0263574700000084"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700000084","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1990,7]]}}}