A rule based approach to the gripper selection issue for the assembly process

This paper reports a rule based approach to the gripper selection problem in assembly cells. We deal with gripper´s morphology, fingertip and actuation. The goal of the project is to develop a set of rules, based on the formalization of the gripper-selection expert´s know-how and reasoning methods. Once the rules are achieved, we point out which parameters, concerning the part handled and process needed, are to be known to correctly choose a gripper