MODELING, ANALYSIS, AND PERFORMANCE EVALUATION OF A ROBOTIC GRIPPER SYSTEM FOR LIMP MATERIAL HANDLING

Authors
KOLLURU R VALAVANIS KP HEBERT TM
Citation
R. Kolluru et al., MODELING, ANALYSIS, AND PERFORMANCE EVALUATION OF A ROBOTIC GRIPPER SYSTEM FOR LIMP MATERIAL HANDLING, IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, 28(3), 1998, pp. 480-486
Citations number
13
Categorie Soggetti
Computer Science Cybernetics","Robotics & Automatic Control","Computer Science Artificial Intelligence","Computer Science Cybernetics","Robotics & Automatic Control","Computer Science Artificial Intelligence
Journal title
IEEE transactions on systems, man and cybernetics. Part B. Cybernetics → ACNP
ISSN journal
10834419
Volume
28
Issue
3
Year of publication
1998
Pages
480 - 486
Database
ISI
SICI code
1083-4419(1998)28:3<480:MAAPEO>2.0.ZU;2-N
Abstract
This paper presents an analytical model of a pat surfaced robotic grip per designed to automate the process of reliable, rapid and distortion -free limp material handling. The designed gripper prototype is integr ated with an industrial robot manipulator. The gripper geometry and it s 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 manipulati on.