Prediction of part orientation error tolerance of a robotic gripper

Matthew Wagner, John Morehouse, Shreyes Melkote

Research output: Contribution to journalArticlepeer-review

11 Scopus citations


This paper presents a model which predicts the part orientation error tolerance of a three-fingered robotic gripper. The concept of "self-alignment" is introduced, where the gripper uses the grasping process to bring the workpiece into its final state of orientation. The gripper and part are represented mathematically, and initial contact locations upon grasp closure determined. This information is used to solve for the contact forces present, and criteria are developed to determine if beneficial part motion resulting in self-alignment is expected. The results are visualized via a boundary projected on a reference plane below the part. The model is validated experimentally with a number of part configurations with favorable results. This method presents a useful tool by which the mechanical designer can quantitatively predict the performance of an intuitively designed gripping system.

Original languageEnglish (US)
Pages (from-to)449-459
Number of pages11
JournalRobotics and Computer-Integrated Manufacturing
Issue number2
StatePublished - Apr 2009

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


Dive into the research topics of 'Prediction of part orientation error tolerance of a robotic gripper'. Together they form a unique fingerprint.

Cite this