  A Test Rig for end-effectors of a robot is designed such that it achieves a
prismatic motion in x-y-z axes for grasping an object. It is a structure,
designed with a compact combination of sensors and actuators. Sensors are used
for detecting presence, position and disturbance of target work piece or any
object and actuators with motor driving system meant for controlling and moving
the mechanism of the system. Hence, it improves the ergonomics and accuracy of
an operation with enhanced repeatability.
