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In the same way as robot manipulators are copies of the human arm, robot grippers imitate the human hand. In most cases robot grippers are considerably simpler, as the human hand, encompassing wrist and fingers, has 22 degrees of freedom. Industrial robot grippers differ to a large extent, so it is not difficult to understand that their cost range from almost negligible to higher than the cost of a robot manipulator. Although a large number of various robot grippers are commercially available, it is often necessary to develop a special gripper meeting the requirements of a specific robotic task.
KeywordsDirected Graph Assembly Process Assembly Sequence Robot Manipulator Assembly State
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