Stability and Behaviour of Parallel-Sided Workpieces Held by a Robot Gripper

Authors : Ertuğrul TAÇGIN

Pages : 55-64

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Publication Date : 0000-00-00

Article Type : Research Paper

Abstract :The stability and behaviour of parallel-sided workpieces held by a two-fingered robot gripper were investigated. The behaviour of the workpiece under an external force was studied by computer simulation through modelling the actual gripper-workpiece system as a mechanism with a single degree of freedom. The characteristics of the possible slip motion of the workpiece were also investigated, taking into consideration the effects of kinematic parameters on grasping stability.
Keywords : Robot Grippers, mechanisms, stability, kinematic similarity