New Test Method for Standard Test Method for Grasp-Type Robot End-Effectors: Slip Resistance
1. Scope
The purpose of this test method, the second item a part of a suite of grasp-type end-effector performance test methods, is to quantitatively evaluate an end-effector’s performance for slip resistance.
Slip resistance is a kinetic measure of a robotic hand’s ability to resist slip. The focus of this metric is to investigate the inherent surface friction properties of the hand. With higher friction coefficients, robotic fingers will possess wider friction cones at the areas of contact with an object. This behavior would ultimately allow friction forces to contribute more greatly to the overall grasping effort yielding greater resistances to slipping, and generally enhanced energy efficiency during the grasping operation.
Test methods for determining the performance of grasp-type end effectors are necessary to benchmark capabilities. The proposed standard would allow users to measure the obtainable pull force for a given hand and artifact size under a full-force grasp. This test method could be used by manufacturers of grasp type end effectors to benchmark the performance of their product. It could also be used by integrators or end users to help evaluate the performance characteristics of multiple different grasp type end effectors.
