Hostname: page-component-848d4c4894-cjp7w Total loading time: 0 Render date: 2024-07-07T11:24:10.686Z Has data issue: false hasContentIssue false
  • English
  • Français

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.)
Get access Rights & Permissions [Opens in a new window]

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

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Schafer, H.S., “Evaluation of Gripping Effectiveness and Motion Economy on Standard Geometric Shapes Using a Table Top Robotic Manipulator” Master of Science Thesis (Department of Industrial Engineering, Iowa State University, Ames, Iowa, 1982).Google Scholar
2.Schafer, H.S. and Malstrom, E.M., “Evaluating the Effectiveness of Two-Finger, Parallel Jaw Robotic Grippers” Proceedings of the 13th International Symposium on Industrial Robots/Robots VII, (Society of Manufacturing Engineers, Chicago, 04, 1983).Google Scholar
3.Skinner, F., “Multiple Prehension Hands for Assembly Robots” Proceedings of the 5th International Symposium on Industrial Robots (Society of Manufacturing Engineers, IFF Research Institute, Chicago, 09. 22–24, 1975).Google Scholar
4.Mosher, R.S., Handyman to Hardiman, Society of Automotive Engineers, Report Number 670088 (01, 1967).CrossRefGoogle Scholar
5.Skinner, F., “Design of a Multiple Prehension Manipulator system” ASME Publication Number 74-DET-25 (10, 1974).Google Scholar
6.Rovella, A., “On Specific Problems of Design of Multipurpose Mechanical Hands in Industrial Robots” Proceedings of the 7th Internation Symposium on Industrial Robots (JIRA, Tokyo, Japan, 10 19–21, 1977).Google Scholar
7.Okada, T. and Tsuchiya, S., “On a Versatile Finger System” Proceedings of the 7th International Symposoum on Industrial Robots (JIRA, Tokyo, Japan, 10 19–21, 1977).Google Scholar
8.Von Muldau, H., “Greifer, die Programmierte Hand” Tagungsbericht, München (Verlag Moderne Industrie, 11, 1972).Google Scholar
9.Hirose, S. and Umetani, Y., “The Development of a Soft Gripper for Ihe Versatile Hand” Proceedings of the 7th International Symposium on Industrial Robots (JIRA, Tokyo, Japan, 10 19–21, 1977).Google Scholar
10.Konstantinov, M.S., “Jaw-Type Gripper Mechanisms” Proceedings of the 5th International Symposium on Industrial Robots (Society of Manufacturing engineers, IIT Research Institute, Chicago, 09 22–24, 1975).Google Scholar
11.Mini-Mover 5: User Reference and Application Manual (Microbot Inc., Menlo Park, Calif., 1980).Google Scholar
12.TRS-80 Model III Operation and BASIC Language Reference Manual Catalog No. 26–2112 (Radio Shack/Tandy Corp., Ft. Worth, Texas, 1980).Google Scholar