Synonyms
Definition
Grasping is defined as a series of handling operations which provide forces and torques necessary to get and maintain the part in a relative position and orientation with respect to the grasping device (e.g., tweezers for small parts or vacuum cups for flat and nonporous objects). The end effector that exerts the grasping is called “gripper” and it is also used in cases of holding rather than actual grasping (Monkman et al. 2007).
Extended Definition
Nowadays several factors such as the increasing cost of human labor, the spread of automation and the decreasing cost of robotic systems have pushed both industry to the adoption of grasping systems to automate many production processes in different fields. While in the past robot hands and industrial grippers were oriented to achieve different goals, nowadays the gap is reduced and it is often difficult to distinguish a simplified robotic human-like hand from a complex industrial gripper (Krüger et al. 2009).
T...
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Fantoni G, Santochi M, Dini G, Tracht K, Scholz-Reiter B, Fleischer J, Kristoffer Lien T, Seliger G, Reinhart G, Franke J, Nørgaard Hansen H, Verl A (2014) Grasping devices and methods in automated production processes. CIRP Ann Manuf Technol 63(2):679–701
Krüger J, Lien TK, Verl A (2009) Cooperation of human and machines in assembly lines. CIRP Ann Manuf Technol 58(2):628–646
Monkman GJ, Hesse S, Steinmann R, Schunk H (2007) Robot grippers. Weinheim, Wiley-VCH
Tichem M, Lang D, Karpuschewski B (2003) A classification scheme for quantitative analysis of micro-grip principles. In: Proceedings of the 1st international precision assembly seminar (IPAS’2003), Bad Hofgastein, 17–19 Mar 2003
van Brussel H, Peirs J, Reynaerts D et al (2000) Assembly of microsystems, keynote paper. CIRP Ann 49(2):451–472
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Section Editor information
Rights and permissions
Copyright information
© 2019 CIRP
About this entry
Cite this entry
Fantoni, G., Santochi, M. (2019). Grasping. In: Chatti, S., Laperrière, L., Reinhart, G., Tolio, T. (eds) CIRP Encyclopedia of Production Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-53120-4_16832
Download citation
DOI: https://doi.org/10.1007/978-3-662-53120-4_16832
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-662-53119-8
Online ISBN: 978-3-662-53120-4
eBook Packages: EngineeringReference Module Computer Science and Engineering