Evaluation Criteria for grippers.

Question 1

Main aspects for grippers evaluation.

Answer 1

• Precision
• Payload
• Workspace
• Performance

Question 2

What is Precision for a gripper.

Answer 2

Is a set of parameters:

• Accuracy: wants to measure the precision of the robot to reach a position for the first time
• Repeatability: wants to measure the precision to return in the same position (most useful)
• Sensibility: minimun movement the robot can do

Question 3

What is Payload for a gripper?

Answer 3

Max kg(s) a robot can pick and move = tool (aka end-effector) + object

Question 4

What is Workspace for a gripper?

Answer 4

Is the set of all points in space reachable by the robot.

Question 5

What is Performance for a gripper?

Answer 5

• Velocity: maximum speed reachable by the robot
• Acceleration: time to reach the max speed

OR

• Cycletime (or parts per minute): usually given instead of velocity and acceleration

Question 6

Dexterous workspace.

Answer 6

Is the set of all positions that can be reached with all possible orientations.