Prediction of part orientation error tolerance of a robotic gripper

Matthew Wagner, John Morehouse, Shreyes Melkote

Research output: Contribution to journalArticle

9 Scopus citations

Abstract

This paper presents a model which predicts the part orientation error tolerance of a three-fingered robotic gripper. The concept of "self-alignment" is introduced, where the gripper uses the grasping process to bring the workpiece into its final state of orientation. The gripper and part are represented mathematically, and initial contact locations upon grasp closure determined. This information is used to solve for the contact forces present, and criteria are developed to determine if beneficial part motion resulting in self-alignment is expected. The results are visualized via a boundary projected on a reference plane below the part. The model is validated experimentally with a number of part configurations with favorable results. This method presents a useful tool by which the mechanical designer can quantitatively predict the performance of an intuitively designed gripping system.

Original languageEnglish (US)
Pages (from-to)449-459
Number of pages11
JournalRobotics and Computer-Integrated Manufacturing
Volume25
Issue number2
DOIs
StatePublished - Apr 1 2009

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

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