Computer-aided analysis of three-fingered robot grippers

Authors

W. J. Palm, University of Rhode Island
G. L. Field, University of Rhode Island
M. Reuber, University of Rhode Island

Document Type

Conference Proceeding

Date of Original Version

12-1-1988

Abstract

A three-fingered robot gripper appears to be a good candidate for vertical assembly applications. Here we present a force analysis of such a gripper, and a computer-assisted technique to determine stable grasp configurations for given workpiece geometries. The results can also be used to generate finger force commands for the gripper controller.

Citation/Publisher Attribution

Palm, W. J., G. L. Field, and M. Reuber. "Computer-aided analysis of three-fingered robot grippers." (1988): 479-485. https://digitalcommons.uri.edu/mcise_facpubs/626