Guidelines for the design of robotic gripping systems

Greg Causey
2003 Assembly Automation  
This paper describes guidelines for the design of grippers for use in modular manufacturing workcells. Gripper design is an important and often overlooked aspect of the design of a complete assembly system. Here, guidelines are presented which can be applied to a wide variety of grippers. Guidelines are divided into three major categories: those that improve system throughput, those that increase system reliability, and those that decrease cost. Designs of several grippers, currently being used
more » ... urrently being used in a modular manufacturing workcell, are presented as examples of the application of the guidelines to real world problems. Electronic access The research register for this journal is available at
doi:10.1108/01445150310460033 fatcat:2mtr6hr5xrcyxbxmbu7yjolyom