Algorithm for the Extraction of Optimal Gripping Force Range with the Robot Gripper

摘要

The arm of robot consists of a manipulator and an end-effector. The end-effector is doing a specific work such as welding, picking and placing, sawing, deburring, suction, etc. with for the specific object of robot system. Here we are focused on the gripper among end-effectors. If the gripper generates the excessive gripping force, then the gripped material can have a permanent deformation. On the other hand, if the gripping force is too small, then the gripped material can be slip from the end-effector, drop to the floor and will get damaged. Therefore, it is important to use the adequate gripping force of the gripper. In this paper, we suggest the algorithm which is easy to automate, for the extraction of optimal gripping force range, with the estimation of frictional coefficient and young’s modulus.