An expert system for selection of robot grippers

摘要

This paper presents a practical expert system which can pinpoint the exact commercially available end-effector or gripper most suited to a given robotic application. The expert system is implemented using Leonardo, a powerful hybrid expert system development tool, coupled with dBase III Plus, the well-known database management package. The system carries out the selection operations in two steps: preliminary selection and detailed selection. The knowledge employed in both stages will be summarized in the paper. This will be followed by an outline of the facilities of Leonardo and a description of the main features of the system. An example of a consultation session with the expert system concludes the paper.