Title :
A robotic gripper system for limp material manipulation: modeling, analysis and performance evaluation
Author :
Kolluru, Ramesh ; Valavanis, Kimon P. ; Hebert, Timothy M.
Author_Institution :
Robotics & Autom. Lab., Southwestern Louisiana Univ., Lafayette, LA, USA
Abstract :
The objective of this paper is to present the design, analytical modeling and performance evaluation of a flat surfaced robotic gripper designed to automate the process of reliable, rapid and distortion-free limp material handling. The geometric model of the gripper and its grasp stability are analyzed leading to justification of the overall system design. The paper reviews the existing state-of-the-art technology in limp material handling, and presents the design and modeling of the robotic gripper system. Finally, the experimental results are presented
Keywords :
computational geometry; control system CAD; control system analysis; industrial manipulators; materials handling; modelling; stability; geometric model; grasp stability; industrial manipulators; limp material manipulation; modeling; performance evaluation; robotic gripper system; Analytical models; Grippers; Materials handling; Materials reliability; Paper technology; Performance analysis; Robotics and automation; Robots; Solid modeling; Stability analysis;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620056
