Based on the main purpose of industrial robots, their gripping devices must provide reliable clamping of the parts they hold in different directions and modes of their movement and perform the necessary operations (installation, connection, pressing of parts, etc.). The process of transportation and positioning itself must be carried out in compliance with the following requirements: the maximum appropriate speed or acceleration; necessary accuracy; minimal force loads on the robot grip and structure; the necessary quality of the operation; minimum energy requirements; compliance with the necessary requirements for the safety of operations, etc. In addition, the gripping devices of robots should be versatile enough to be able to work with different parts in shape and size, as well as perform maintenance of different equipment, working with different devices, etc. Therefore, functional studies of gripping devices are quite important. One of the directions of such research is the creation of a methodology for force calculations taking into account the conditions discussed above, therefore the task is relevant today. During the period of existence and development of industrial robotics, the issue of force calculation of their gripping devices has always been relevant due to the fact that this is a working body that is constantly in contact with production objects of various shapes, materials and properties. In the process of manipulating production objects, they must not be damaged, while the robot's work cycle must also be precisely worked out in a certain period of time according to the production cycle. All these issues were considered most thoroughly in the studies of I.I. Pavlenka [1, 4], ShimonY. Nof, G.J. Monkman [3], Ya.I. Prots [2] and others. Particular attention was paid to the power of gripping devices in the works of I.I. Pavlenko. These studies are taken as the basis of the idea of substantiating the operating conditions of gripping devices and creating a methodology, different approaches to force calculation with its subsequent use in the design of these executive modules, as well as in the correcting programs of the industrial robot. Thus, the purpose of the scientific work is to study the power characteristics of the gripping device of an industrial robot under different conditions of its operation, to derive formulas for determining the minimum necessary clamping forces of the part, and to build the dependence of the calculated forces on the design characteristics of the gripper. It is worth noting that the relevance of this issue has increased many times today. This is due to the use of robotics not only in production, but also for military purposes. Industrial robots (manipulators) are used in the machine-building industry, which serve the main technological equipment, and in military affairs - mobile robots with built-in manipulators for taking dangerous objects. The method of force calculation proposed by us consists in determining the minimum necessary clamping forces.

gripping devices, clamping forces, industrial works, total clamping forces

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1. Pavlenko, I.I. & Godunko. M.O. (2014). Zakhvatni prystroi robotiv [Grippersofrobots]. Kirovograd: KNTU [in Ukrainian].

2. Prots, Ya.I. (2008). Zakhopliuval'ni prystroi promyslovykh robotiv [Grippers of industrial robots]. Ternopol State Technical University named after I.Pulyuya, 232p. [in Ukrainian].

3. Robot Grippers. G.J. Monkman, S.Hesse, R.Steinmann, H.Schunk. (2007). Copyright 2007 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim [in English].

4. Pavlenko, І.І. (2016). Promyslovi roboty ta RTK [Industrialrobotsand RTC]. Kropivnitsky: Publisher Lysenko V.F. [in Ukrainian].

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