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Use of coding and classification systems in the design of universal robotic grippers
Jeoung S. Cho, Eric M. Malstromt, John C. Even, Jr.
Journal:

Robotica / Volume 11 / Issue 4 / July 1993

Published online by Cambridge University Press:

09 March 2009, pp. 345-350
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Recent hardware advances for robot accessories include self changing grippers. A universal wrist has the capability of accessing and pneumatically attaching itself to a limited number of grippers that can be stored in a magazine. This paper addresses the determination of self changing gripper characteristics to permit the grasping of a wide variety of geometric shapes with a limited number of different gripper types.