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Testing the efficiency and motion economy of two-finger robotic grippers

Published online by Cambridge University Press:  09 March 2009

H. Steven Schafer  and
Eric M. Malstrom
H. Steven Schafer
Affiliation:
Department of Industrial Engineering, Iowa State University, Ames, Iowa 50011 (U.S.A.)
Eric M. Malstrom
Affiliation:
Department of Industrial Engineering, Iowa State University, Ames, Iowa 50011 (U.S.A.)
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Summary

The aim of the research work described in this paper was to study the versatility and effectiveness of commercially available all-purpose robot grippers. In particular, the authors analyzed the capabilities of a two-finger, parallel-action gripper. Another aspect considered in this investigation was the relationship between motion economy and a variety of factors, viz. programming method, gripping configuration, speed of the robot's movement and the weight of the workpiece being handled, all from a standpoint of gripping effectiveness. The potential value of this research work is threefold, involving a knowledge of robot systems limitations, alternate gripping approaches and the development of an extendable gripping analysis method. Further research work is anticipated for a variety of different grippers and robotic arms.

Type
Article
Information
Robotica , Volume 1 , Issue 3 , July 1983 , pp. 127 - 137
Copyright
Copyright © Cambridge University Press 1983

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References

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