Design fundamentals of a reconfigurable robotic gripper system

Author

Kolluru, Ramesh ; Valavanis, Kimon P. ; Smith, Stanford A. ; Tsourveloudis, Nikos

Author_Institution

Robotics & Autom. Lab., Louisiana Univ., Lafayette, LA, USA

Volume

30

Issue

2

fYear

2000

fDate

3/1/2000 12:00:00 AM

Firstpage

181

Lastpage

187

Abstract

Discusses the design and modeling fundamentals of a multi-degree-of-freedom reconfigurable robotic gripper system (RGS), designed to automate the process of limp material handling, reliably and without distortion, deformation, and/or folding. The reconfigurable gripper design draws upon a previously reported flat surfaced, fixed-dimensions gripper system (Kolluru et al., 1998). The design consists of four arms in a cross-bar configuration, with a flat surfaced, fixed dimensions, suction-based gripper unit mounted on each of the arms. The kinematic and dynamic performance of the reconfigurable RGS is analyzed theoretically and then validated using Integrated Design Engineering Analysis Software (I-DEAS) simulation software

Keywords

CAD; design engineering; manipulator dynamics; manipulator kinematics; materials handling; software packages; I-DEAS simulation software; Integrated Design Engineering Analysis Software simulation software; cross-bar configuration; design fundamentals; dynamic performance; flat surfaced fixed-dimensions gripper system; kinematic performance; limp material handling; reconfigurable robotic gripper system; suction-based gripper unit; Arm; Deformable models; Grippers; Kinematics; Materials handling; Materials reliability; Performance analysis; Robotics and automation; Robots; Software performance;

fLanguage

English

Journal_Title

Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on

Publisher

ieee

ISSN

1083-4427

Type

jour

DOI

10.1109/3468.833099

Filename

833099