New solution to design polyvalent gripper systems for industrial applications

Gorce P., Villard C., Fontaine J., Coiffet P., Rabit J.

Proceedings of the 1994 IEEE Conference on Control Applications. Part 3 (of 3), Glasgow, England, 24 - 26 August 1994, vol.3, pp.1511-1516, (Full Text) identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 3
  • City: Glasgow
  • Country: England
  • Page Numbers: pp.1511-1516
  • Open Archive Collection: Conference Paper
  • Azerbaijan State University of Economics (UNEC) Affiliated: Yes

Abstract

In this paper we present a methodological approach to solve the design problem of Polyvalent Gripper Systems (P.G.S) in industrial field. It is composed of a set of algorithms which allows to tackle design key steps: - Grasp force planning, - grasp mechanism (rigid or manipulable) design, - kinematic chain design (to realize 'configuration' mobilities). To do this, we used some heuristics in order to obtain an optimal solution for each design problems. In what follows, we give more details on these polyvalent systems and we present the different stages. To illustrate the results obtained by this approach, we give an example of P.G.S. design.