Figure 12.

Graphic comparison between (a) Gripper 1 and Gripper 4. As can be seen from the graph, the two grippers generally have similar performances. (b) Gripper 2 and Gripper 3. These are the two grippers with the worst performances, and each one proved to be suitable only for a specific type of object. (c) Graphic comparison between Gripper 1 and Gripper 2 (the two pneumatic grippers). As can be seen from the graph, Gripper 1 works significantly better than Gripper 2. (d) Graphic comparison between Gripper 3 and Gripper 4 (the two mechanic grippers). As can be seen from the graph, Gripper 3 works significantly better than Gripper 4.