Algorithm for the Extraction of Optimal Gripping Force Range with the Robot Gripper

Abstract:

The arm of robot consists of a manipulator and an end-effector. The end-effector is doing a specific work such as welding, picking and placing, sawing, deburring, suction, etc. with for the specific object of robot system. Here we are focused on the gripper among end-effectors. If the gripper generates the excessive gripping force, then the gripped material can have a permanent deformation. On the other hand, if the gripping force is too small, then the gripped material can be slip from the end-effector, drop to the floor and will get damaged. Therefore, it is important to use the adequate gripping force of the gripper. In this paper, we suggest the algorithm which is easy to automate, for the extraction of optimal gripping force range, with the estimation of frictional coefficient and young’s modulus.

• Periodical: Applied Mechanics and Materials (Volume 251)
• Pages: 164-168
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.251.164
• Online since: December 2012
• Authors: Dong Hwan Shin, Choong Pyo Jeong, Tae Sang Park, Yoon Gu Kim, Ji Nung An
• Keywords: Frictional Coefficient, Gripper, Optimal Gripping Force, Young's Modulus

References

[1] D. H. Shin, O.S. Kwon and J. Bae: Transactions of KSAE, Vol. 18 (2010), 8.

[2] D. H. Shin, J. An, and J. Moon: Journal of KROS, Vol. 6 (2011), 284.