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

被引：11

作者：

Falco, Joe ^{[1
]}

Hemphill, Daniel ^{[2
]}

Kimble, Kenny ^{[1
]}

Messina, Elena ^{[1
]}

Norton, Adam ^{[2
]}

Ropelato, Rafael ^{[1
]}

Yanco, Holly ^{[2
]}

机构：

[1] NIST, 100 Bur Dr, Gaithersburg, MD 20899 USA

[2] Univ Massachusetts, New England Robot Validat & Experimentat NERVE Ct, Lowell, MA 01852 USA

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2020年 / 5卷 / 02期

关键词：

Manipulators; end effectors; grasping; robot kinematics; benchmark testing; performance evaluation; UNDERACTUATED HAND; COMPLIANT;

D O I：

10.1109/LRA.2020.2964164

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This letter 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 letter 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.

引用

页码：644 / 651

页数：8

共 11 条

[1] Contact sensing and grasping performance of compliant hands [J].