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Proceedings of the Estonian Academy of Sciences

ISSN 1736-7530 (electronic)   ISSN 1736-6046 (print)
Formerly: Proceedings of the Estonian Academy of Sciences, series Physics & Mathematics and  Chemistry
Published since 1952

Proceedings of the Estonian Academy of Sciences

ISSN 1736-7530 (electronic)   ISSN 1736-6046 (print)
Formerly: Proceedings of the Estonian Academy of Sciences, series Physics & Mathematics and  Chemistry
Published since 1952
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Methodology for implementing universal gripping solution for robot application; pp. 413–420

(Full article in PDF format) https://doi.org/10.3176/proc.2019.4.11


Mohammed Salman Azim, Andrei Lobov, Artem Pastukhov


In recent years the affordability of robots and the progress in collaborative robotics has been of great benefit for the manufacturing industries. The repetitive, monotonous and eco-unfriendly tasks are being assigned to the robots, which can work in parallel with humans, making the tasks easier for them. Industries are frequently introducing robots on the factory floor for maximizing production. Competition on the market is motivating robot manufacturers to work out solutions where return on investment would take as little time as possible. End effector is the most important part of a robot for making specific operations. The end effector market has also grown and brought innovation in the area of grasping objects with different shapes with a single gripper. However, problems persist due to the need for a gripper, which could handle a diverse range of products for certain applications. This paper discusses an approach of handling different products with a single end effector. Selecting a gripper for a certain application takes time and effort. Universal gripping solution can provide extra benefits and save costs. Here, a methodology is proposed to design a proper universal gripping solution for a specific use case. The article is mainly focused on pick-and-place applications.


robot gripper, universal gripper, 3D printed gripper, gripper selection.


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 10.  Bélanger-Barrette , M. Robotic End effectors – Payload vs Grip Force. January 29 , 2014. https://blog.robotiq.com/bid/69524/Robotic-End effectors-Payload-vs-Grip-Force (accessed 2018-12-17).

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 12.  Coefficient of friction , Rolling resistance and Aero­dynamics. http://www.tribology-abc.com/abc/cof.htm (accessed 2018-12-17).


Current Issue: Vol. 69, Issue 2, 2020

Publishing schedule:
No. 1: 20 March
No. 2: 20 June
No. 3: 20 September
No. 4: 20 December