TESTING FLEXIBLE GRIPPERS FOR GEOMETRIC AND SURFACE GRASPING CONFORMITY IN RECONFIGURABLE ASSEMBLY SYSTEMS

The ongoing development in manufacturing technology facilitates flexibility in production and faces challenges of product handling. Flexibility was required in the form of adaptable grippers for robotic arms in pick-and-place procedures for reconfigurable assembly systems. A conceptual system was de...

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Bibliographic Details
Published in:South African journal of industrial engineering 2018-05, Vol.29 (1), p.128-142
Main Authors: Basson, Christian Ivan, Bright, Glen, Walker, Anthony John
Format: Article
Language:English
Subjects:
Appendages
Assembly
Automation
Case studies
Collaboration
Deformation effects
Design
Engineering, Industrial
Finite element method
Flexibility
Force Feedback
Force-Time Characteristics
Friction
Grasping (robotics)
Grippers
Kinematics
Material Handling
Robot arms
Robotics
Robots
Shape Conformity
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Summary:The ongoing development in manufacturing technology facilitates flexibility in production and faces challenges of product handling. Flexibility was required in the form of adaptable grippers for robotic arms in pick-and-place procedures for reconfigurable assembly systems. A conceptual system was designed and tested according to the surface geometric conformity of grasped objects. The system proposed was a biologically inspired Fin Ray Effect® gripper. Grasping occurs due to the deformation of the rib structure of the appendage. The appendages were simulated for conformity by means of a finite element analysis, and performance was analysed by means of a physical sample mass test and a force test.
ISSN:2224-7890
1012-277X
2224-7890
DOI:10.7166/29-1-1874