Experimental assessment and prediction of design parameter influences on a specific vacuum-based granular gripper

ROBOMECH Journal

Table 4 Overview of the results for the RMSE in Newton shown in Figs. 20, 21, 22, 23, 24, 25, 26 with the best predicted fit colored blue and underlined, worst fit in red

		Figure	Relative Linear Model	Absolute Linear Model	ANN for one Type of Gripper	ANN for both Types
Predicted within one Type of Gripper	Only Granular Variations	20	61.717	Equal to relative linear model	31.454	40.671
Predicted within one Type of Gripper	Only Membrane Variations	21	54.611	Equal to relative linear model	37.000	51.550
Predicted for both Types of Gripper	Air-permeable Granulate, otherwise Standard	22	64.698	110.236	N/A	59.541
	Mixed Membrane and Granulate Variations	23	54.213	88.068	N/A	48.024
	Membrane Variations and Silicone Granulate	24	86.570	89.751	N/A	80.913
	Membrane Variations and Steel Granulate	25	70.849	352.978	N/A	42.833
	Other Membrane Variations and Steel Granulate	26	80.019	385.280	N/A	46.749