FORMHAND gripper testing

William Brace (Contributor), Jari M. Ahola, Janne Saukkoriipi

Research output: Book/ReportReport


This report describes testing the gripping accuracy of adaptive shape vacuum and granule filled gripper FORMHAND FH-R150 when handling formed sheet metal parts with industrial robot. The gripped sheet metal parts were localized based on point clouds measured with the 3D camera calibrated with respect to the robot. The experiments included several testing scenarios: picking parts from fixture and freely from the table, gripping on and off part’s centre-of-gravity, emulating handling motions with industrial robot as well as varying the gripping distance before activating the vacuum. Based on the results gripping accuracy was in the level of ± 0.7 mm and ± 3.5 mm in translation, and ± 0.15 º and ± 0.7 º in orientation. The gripping accuracy was dependent on the gripping location, geometry of the gripped surface and the gripping distance. For the best accuracy the object should be gripped close to the center of gravity and gripper head should be pushed firmly against the component before activating the vacuum.
Original languageEnglish
PublisherVTT Technical Research Centre of Finland
Number of pages38
Publication statusPublished - 13 May 2020
MoE publication typeD4 Published development or research report or study

Publication series

SeriesVTT Research Report


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