Abstract

BASSON, C.I.; BRIGHT, G.  and  WALKER, A.J.. Testing flexible grippers for geometric and surface grasping conformity in reconfigurable assembly systems. S. Afr. J. Ind. Eng. [online]. 2018, vol.29, n.1, pp.128-142. ISSN 2224-7890.  http://dx.doi.org/10.7166/29-1-1874.

The ongoing development in manufacturing technology facilitates flexibility in production and faces challenges of product handling. Flexibility was required in the form of adaptable grippers for robotic arms in pick-and-place procedures for reconfigurable assembly systems. A conceptual system was designed and tested according to the surface geometric conformity of grasped objects. The system proposed was a biologically inspired Fin Ray Effect® gripper. Grasping occurs due to the deformation of the rib structure of the appendage. The appendages were simulated for conformity by means of a finite element analysis, and performance was analysed by means of a physical sample mass test and a force test.

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