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Benchmarking Protocols for Evaluating Grasp Strength, Grasp Cycle Time, Finger Strength, and Finger Repeatability of Robot End-effectors


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.

SUBMITTER: Falco J 

PROVIDER: S-EPMC7670580 | biostudies-literature | 2020 Jan

REPOSITORIES: biostudies-literature

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