Modeling, analysis, and performance evaluation of a robotic gripper system for limp material handling

Author

Kolluru, Ramesh ; Valavanis, Kimon P. ; Hebert, Timothy M.

Author_Institution

Center for Adv. Comput. Studies, Southwestern Louisiana Univ., Lafayette, LA, USA

Volume

28

Issue

3

fYear

1998

fDate

6/1/1998 12:00:00 AM

Firstpage

480

Lastpage

486

Abstract

This paper presents an analytical model of a flat surfaced robotic gripper designed to automate the process of reliable, rapid and distortion-free limp material handling. The designed gripper prototype is integrated with an industrial robot manipulator. The gripper geometry and its grasp stability are justified. Performance of the overall system is experimentally tested, based on a set of industry dictated operational constraints. It is found that the gripper system has high reliability, grasp stability, and that it is capable of rapid rates of manipulation

Keywords

industrial manipulators; materials handling; stability; grasp stability; gripper prototype; industrial robot manipulator; limp material handling; modelling; performance evaluation; reliability; robotic gripper system; Analytical models; Grippers; Manipulators; Materials handling; Materials reliability; Performance analysis; Prototypes; Robotics and automation; Service robots; Stability;

fLanguage

English

Journal_Title

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

1083-4419

Type

jour

DOI

10.1109/3477.678660

Filename

678660