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This paper describes guidelines for the design of grippers for use in modular manufacturing workcells. Gripper design is an important and often overlooked aspect of the design of a complete assembly system. Here, guidelines are presented which can be applied to a wide variety of grippers. Guidelines are divided into three major categories: those that improve system throughput, those that increase system reliability, and those that decrease cost. Designs of several grippers, currently being used in a modular manufacturing workcell, are presented as examples of the application of the guidelines to real world problems.

The cases describe the demise of Arthur Andersen, a firm that had long set the industry standard for professionalism in accounting and auditing. Once an example of strong corporate culture with a commitment to public service and independent integrity, Andersen saw its culture and standards weaken as it grew explosively and changed its mode of governance. The (A) case describes a crisis precipitated by the admission of Waste Management, a major Andersen client, that it overstated its pretax earnings by $1.43 billion from 1992 to 1996. The resulting Securities and Exchange Commission (SEC) investigation ended with Andersen paying a $7 million fine, the largest ever levied against an accounting firm, and agreeing to an injunction that effectively placed the accounting giant on probation. Students analyze the causes of Andersen's problems and advise Andersen leadership. The (B) case covers Arthur Andersen's relationship with Enron, one of the great success stories of the “new economy” boom. When Enron's aggressive use of off-balance sheet partnerships became impossible to hide in autumn 2001, news reports stated that Andersen auditors had engaged in extensive shredding of draft documents and associated communications with Enron. Students are asked to act as crisis management consultants to Andersen CEO Joe Berardino. The (C) case details Andersen's collapse following its indictment and conviction on criminal charges of obstructing justice in the Enron case. Its conviction was later overturned by the U.S. Supreme Court on narrow technical grounds, but by then Andersen had ceased to exist, eighty-nine years after Arthur E. Andersen had taken over a small accounting firm in Chicago. Students can focus on the impact of media on a reputational crisis.

Students will: Identify the teachable moment in a crisis that leaders can leverage as an opportunity to improve a firm's reputation or core identity, to reinforce values, and to drive change, Understand the impact on crisis management of the media landscape and regulatory decision-making, Realize the fragility of corporate cultures and the need to actively maintain them, especially during difficult times,

The purpose of this paper is to inform the readers of the design process and practical implications of a new gripping device created by the authors.

We have developed a novel gripping device based on the biomechanics of the feeding apparatus of the marine mollusk, Aplysia californica. The gripping device uses modified McKibben artificial muscles arranged in rings and placed in parallel. The rings contract sequentially to produce peristalsis, which moves a grasping mechanism back and forth through the rings.

The central grasper is capable of conforming to soft and irregular material.

This device could have novel applications both for removal of tissue in medical applications and for removing material from clogged plumbing lines.

This paper demonstrates the utility of using biological inspiration for developing novel robotic devices and suggests new ways of handling slippery, irregular, and fragile material.