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Benchmarking Protocols for Evaluating Grasp Strength, Grasp Cycle Time, Finger Strength, and Finger Repeatability of
Joe Falco1, Daniel Hemphill2, Kenny Kimble1
1Joe Falco, Kenny Kimble, Rafael Ropelato, and Elena Messina are with the National Institute of Standards and Technology (NIST), 100 Bureau Drive, Gaithersburg, MD 20899 USA.
IEEE Robotics and Automation Letters
|November 19, 2020
Summary
This study introduces standardized metrics and benchmarking protocols for robot end-effector performance. These tools enable consistent assessment and comparison of robotic end-effectors, crucial for matching technology to applications.
Area of Science:
- Robotics
- Mechanical Engineering
- Performance Metrics
Background:
- Robot end-effectors are critical components in various applications.
- Lack of standardized methods hinders objective performance assessment and comparison.
- Need for a common framework to define technical specifications for end-effectors.
Purpose of the Study:
- To establish a set of metrics and benchmarking protocols for robot end-effector performance evaluation.
- To provide a common ground for assessing and comparing different end-effectors.
- To lay the foundation for a standard framework for end-effector technical specifications.
Main Methods:
- Development of specific metrics including grasp strength, grasp cycle time, finger strength, and finger repeatability.
- Establishment of accompanying measurement techniques and supporting test artifacts.
- Demonstration of metric and protocol application through example implementations.
Main Results:
- A defined set of performance metrics for robot end-effectors.
- Validated benchmarking protocols for repeatable and comparable measurements.
- Example data sets and test designs for characterizing diverse end-effectors.
Conclusions:
- The proposed metrics and protocols offer a valuable tool for current end-effector assessment.
- The framework facilitates objective comparison and selection of robotic end-effectors.
- This work contributes to the long-term goal of standardized technical specifications in robotics.
