A Design Methodology Based Process for Robotic Gripper Design

摘要

Designing effective end-effector tooling for robotic systems is necessary for all robotics applications. These tools, ranging from specialty items such as grinders and welders to more universal tools such as grippers, represent a critical component in the operations of a robotic system. Performance limitations of a robotic gripper impose performance limitations upon the operations of the system as a whole. By applying classical design methods to the design of a robotic gripper, a robotic gripper that meets the performance requirements and specifications of a system can be developed. This paper demonstrates the use of existing design methods to develop a band gripper design for Los Alamos National Laboratory and presents a robust design process that can yield satisfactory gripper designs. The developed gripper is subsequently tested and evaluated based on the project requirements and specifications to validate the design. The resulting gripper met or exceeded project design requirements and specifications.