A robotic gripper system for limp material manipulation: modeling, analysis and performance evaluation

Author

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

Author_Institution

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

Volume

1

fYear

1997

fDate

20-25 Apr 1997

Firstpage

310

Abstract

The objective of this paper is to present the design, analytical modeling and performance evaluation of a flat surfaced robotic gripper designed to automate the process of reliable, rapid and distortion-free limp material handling. The geometric model of the gripper and its grasp stability are analyzed leading to justification of the overall system design. The paper reviews the existing state-of-the-art technology in limp material handling, and presents the design and modeling of the robotic gripper system. Finally, the experimental results are presented

Keywords

computational geometry; control system CAD; control system analysis; industrial manipulators; materials handling; modelling; stability; geometric model; grasp stability; industrial manipulators; limp material manipulation; modeling; performance evaluation; robotic gripper system; Analytical models; Grippers; Materials handling; Materials reliability; Paper technology; Performance analysis; Robotics and automation; Robots; Solid modeling; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.620056

Filename

620056