A pivoting gripper for feeding industrial parts

B. Carlisle, K. Goldberg, A. Rao, J. Wiegley
Proceedings of the 1994 IEEE International Conference on Robotics and Automation  
Jeff Wiegley x USC To be cost effective and highly precise, many industrial assembly robots have only four degrees of freedom (D.O.F. ) plus a binary pneumatic gripper. Such robots commonly permit parts to be rotated only about a vertical axis. However it is often necessary to reorient parts about other axes prior to assembly. In this paper we describe a way to orient parts about an arbitrary axis by introducing a rotating bearing between the jaws of a simple gripper. Based on this mechanism,
more » ... n this mechanism, we are developing a rapidly configurable vision-based system for feeding parts. In this system, a camera determines initial part pose; the robot then reorients the part to achieve a desired final pose. We have implemented a prototype version in our laboratory using a commercially-available robot system.
doi:10.1109/robot.1994.351354 dblp:conf/icra/CarlisleGRW94 fatcat:uepx2xobrvbh5mlxb2vht4kddi