Falco, J.
, Hemphill, D.
, Kimble, K.
, Messina, E.
, Norton, A.
, Ropelato, R.
and Yanco, H.
(2020),
Benchmarking Protocols for Evaluating Grasp Strength, Grasp Cycle Time, Finger Strength, and Finger Repeatability of Robot End-effectors, IEEE Robotics and Automation Letters, [online], https://doi.org/10.1109/LRA.2020.2964164
(Accessed November 21, 2024)
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Benchmarking Protocols for Evaluating Grasp Strength, Grasp Cycle Time, Finger Strength, and Finger Repeatability of Robot End-effectors
Published
Author(s)
, Daniel Hemphill, , , Adam Norton, , Holly A. Yanco
Abstract
This paper describes a set of metrics and supporting benchmarking protocols for determining the performance characteristics of robot end-effectors. In the short-term, these tools are proving useful as a common ground for assessing and comparing end-effectors. The long-term goal is a standard framework for providing technical specifications for robotic end-effectors to help pair technologies to application spaces. This paper presents a subset of the metrics - grasp strength, grasp cycle time, finger strength, and finger repeatability - with accompanying measurement techniques and supporting test artifacts. The application of these metrics and protocols is demonstrated using example implementations to characterize a variety of robot end-effectors, with example data sets and test designs provided for downloading.Citation
IEEE Robotics and Automation Letters
Volume
5
Issue
2
Pub Type
Journals
Download Paper
Keywords
Robotic grasping, performance benchmarking, manufacturing
Citation
Issues
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Created April 1, 2020, Updated February 3, 2020