Gripper design guidelines for modular manufacturing

This paper describes guidelines for the design of grippers for use in modular manufacturing workcells. Gripper design is an important and often overlooked aspect of the design of a complete assembly system. Here, we present guidelines which can be applied to a wide variety of grippers and are divided into two major categories: those that improve system throughput and those that increase system reliability. Designs of several grippers, currently being used in a modular manufacturing workcell, are presented as examples of the application of the guidelines to real world problems.