A Robot Kinematic Gripper
A unique kinematic gripper, based upon a design by Chase et al (1), has been constructed and commissioned in the laboratories of Queen’s Mechanical Engineering. The gripper is part of the robotic equipment at Queen’s Mechanical Engineering and is used in the development of end effector sensors (2,3 and 4). It is mounted on a PRAB VERSATRAN, 110 Kg capacity hydraulic robot.
This paper describes the design of the gripper, the sensor integration process and the development and testing of the gripper control system.
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