Concept of a three D.O.F spherical-joint gripper for industrial robots

Author

Weyrich, Michael ; Abdullah, Mustafa W.

Author_Institution

Inst. of Ind. Autom. & Software Eng., Univ. of Sttutgart, Stuttgart, Germany

fYear

2013

fDate

10-13 Sept. 2013

Firstpage

1

Lastpage

4

Abstract

This paper presents a new design concept for spherical-joint supported gripper that can be easily installed on industrial robots. The purpose of this joint design is to increase the flexibility of the robots´ movements by adding three additional degrees-of-freedom (d.o.f) in one single compact joint. In doing so, the trajectory can be enhanced or more simple ones be used. In addition, this design does neither require extra links nor modification of industrial robots structures since it is being installed as an end-effector. The theoretical analysis and the model of the spherical-joint gripper will be exemplified by a prototype that was built to study the efficiency of this approach.

Keywords

end effectors; grippers; industrial manipulators; prototypes; end-effector; industrial robot structure modification; robot movement flexibility; single compact joint; spherical-joint supported gripper design concept; three-DOF spherical-joint gripper; Angular velocity; Grippers; Induction motors; Joints; Permanent magnet motors; Service robots; degrees-of-freedom; industrial robot; spherical joint;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies & Factory Automation (ETFA), 2013 IEEE 18th Conference on

Conference_Location

Cagliari

ISSN

1946-0740

Print_ISBN

978-1-4799-0862-2

Type

conf

DOI

10.1109/ETFA.2013.6648121

Filename

6648121