Work Item
ASTM WK83863

New Test Method for Grasp-Type Robot End-Effectors: Grasp Strength Performance

1. Scope

This test method evaluates the grasp strength of a robot end-effector. Grasp strength is a kinetic measure of the maximum force a robot end-effector can impose on an object. This measure will yield information regarding a hand’s payload capabilities for various object sizes as well as its limits in resisting pulling or pushing forces during a grasp operation. The method can be used to evaluate two common grasp types, pinch and wrap. The pinch grasp allows for measuring performance associated with precision grasping while the wrap grasp allows for measuring performance associated with power grasping. Split artifacts of different geometries and sizes are used to measure the internal force transmission of a grasp. Multiple cylinder diameters are recommended for the evaluation to create a spread of performance results.


end effectors; grasping; benchmark testing; performance evaluation


There has been a recent increase in the development of robotic end-effectors allowing robots to pick up and manipulate a broader range of objects, without requiring customized end-of-arm tooling or grippers. With this rapidly growing number of end-effectors with diverse designs, there is a need to their individual competencies and characteristics under a unified framework. Performance metrics can provide valuable insight into not only the raw traits of the technology, but also their task and function-level performance capabilities. These measures can then be used to help match capabilities to end-user needs as well as provide researchers and developers insight for improving their hardware and software designs.

The title and scope are in draft form and are under development within this ASTM Committee.


Developed by Subcommittee: F45.05

Committee: F45

Staff Manager: Nora Nimmerichter

Work Item Status

Date Initiated: 10-20-2022

Technical Contact: Joseph Falco

Item: 000