Design and analysis of a reconfigurable robotic gripper for limp material handling

Author

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

Author_Institution

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

Volume

2

fYear

2000

fDate

2000

Firstpage

1988

Abstract

Discusses the design and modeling fundamentals of a multiple degree of freedom reconfigurable robotic gripper system (RGS), designed to reliably automate the process of limp material handling without causing distortion, deformation and/or folding. The reconfigurable gripper design draws upon the authors´ (2000) previously reported work on the flat surfaced, fixed-dimensions gripper system. The design of the reconfigurable gripper system 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. In the paper, the kinematic and dynamic performances of the reconfigurable robotic gripper system are analyzed and then validated using 1-DEAS software

Keywords

computer aided analysis; finite element analysis; industrial manipulators; manipulator dynamics; manipulator kinematics; materials handling; 1-DEAS software; cross-bar configuration; flat surfaced fixed-dimensions gripper system; limp material handling; reconfigurable robotic gripper; suction based gripper unit; Arm; Deformable models; Grippers; Kinematics; Materials handling; Materials reliability; Performance analysis; Robotics and automation; Robots; Software performance;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844886

Filename

844886