A new solution to design polyvalent gripper systems for industrial applications

Presents a methodological approach to solve the design problem of polyvalent gripper systems (PGS) in the industrial field. It is composed of a set of algorithms which allows one to tackle key design steps: -grasp force planning, -grasp mechanism (rigid or manipulable) design, -kinematic chain design (to realize “configuration” mobilities). To do this, the authors used some heuristics in order to obtain an optimal solution for each design problems. The authors give more details on these polyvalent systems and present the different stages. To illustrate the results obtained by this approach, the authors give an example of PGS design