A knowledge-based system for robot gripper selection: criteria for choosing grippers and surfaces for gripping

Abstract The selection of robot grippers for component handling is discussed. The factors which are important in the selection process are analysed. These factors relate to the component to be gripped, the task to be performed, the work environment, the robot, and the gripper. Guidelines are given to help decide on which surfaces to grip a component, how to grip it, and which gripper in a range of standard devices to use. The paper sets the scene for a companion paper which describes a prototype knowledge-based system for gripper selection utilising the criteria presented here.

[1]  Paul K. Wright A manufacturing hand , 1985 .

[2]  Richard A. Volz,et al.  Automatic generation of gripping positions , 1985, IEEE Transactions on Systems, Man, and Cybernetics.