Devices for gripping and transferring billets of products with complex movement of double arms link, carrying the working body

In work the comparative analysis of constructive solutions of three devices for gripping and transferring of products is carried out. These devices are united by a general sign - availability of complex movement of double link bearing working body. Complex movement of the called link includes two simple movements in the following combination: reciprocating-rotary and reciprocation. For each of three designs of devices in an analytical type laws of movement of the double link bearing working body are received. At the same time the mathematical apparatus - function of a position, the first and second geometrical transfer functions was used. This apparatus - an algorithmic basis of calculation and the analysis of parameters of devices for gripping and transferring of products.