Comparative study of the parallel and angular electrical gripper for industrial applications

Abstract

The aim of this paper is to study the position and power performances of an electrical lead screw-driven industrial gripper mechanism (LSDIGM). This work consists of designing and developing an electrical LSDIGM that has the potential to meet various demands in the automation industry and factories. The performances of both angular electrical gripper (AEG) and parallel electrical gripper (PEG) mechanisms were compared based on their position and power efficiency. The position efficiency of these electrical LSDIGM is computed from the position root mean square error (PRMSE) obtained from errors between the two measured positions (input incremental encoder and output linear encoder). In the experimental setup, a current sensor and a spring were employed to measure the current in the input of the system and the stiffness in the output of the system, respectively. The electrical power in the input of the electrical LSDIGM and the mechanical power in the output of the LSDIGMs were calculated using the current and the spring force, respectively. Finally, the power efficiency of these electrical LSDIGMs was examined and compared at different velocity circumstances.