A Robot Kinematic Gripper

  • J. Jeswiet
  • T. N. Moore
  • W. Nshama


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.


Grip Force Parallel Motion Robot Controller Pneumatic Actuator Data Acquisition Board 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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  1. 1.
    “Computer Aided Kinematic Synthesis of a Parallel Jaw Gripper”. T.R. Chase and T.R. Roberts. 1985 ASME Computers in Engineering Conference proceedings, Boston, Vol. 1, pp 157–163.Google Scholar
  2. 2.
    “Development of End-effector Sensors for Industrial Robots”. T.N. Moore, J. Jeswiet, R.L. TenGrotenhuis, W. Nshama. Second International Conference on Robotics and Factories of the Future, July 1987, San Diego, CA. c Springer-Verlag.Google Scholar
  3. 3.
    “The Development of Advanced Sensors for Industrial Robots”. T.N. Moore, J. Jeswiet, R. TenGrotenhuis, W. Nshama. 2nd International Conference on Computer-aided Production Engineering. Edinburgh, April 1987, pp 79–84.Google Scholar
  4. 4.
    “A Robot Force/Temperature Sensing Gripper for Heavy Industry”. J. Jeswiet and W. Nshama. 6th International Conference on Robotic Vision and Sensors, 1986, Paris, pp 152–156, c IFS Publications.Google Scholar
  5. 5.
    “Thin Film Sensors for Robotics Using Titanium and Manganin”. W. Nshama, J. Jeswiet, K. Sreenivas and M. Sayer. 9th International Conference on Vacuum Metallurgy. San Diego CA, April 11, 1988.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1989

Authors and Affiliations

  • J. Jeswiet
    • 1
  • T. N. Moore
    • 1
  • W. Nshama
    • 2
  1. 1.Mechanical EngineeringQueen’s UniversityKingstonCanada
  2. 2.University of Dar-Es-SalaamTanzania

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