摘要：AbstractDosing in enrichment processes is extremely important. A specialized gripper-dispenser for the accurate, reliable and fast dosing of grinding bodies filling the mill has been developed. Attached to an articulated robot, the designed mechatronic device eliminates the possibility of incorrect dosing with grinding bodies, eliminate the possible human error and ensures the correct reading of the data. Experiments were performed with three different grinding bodies sizes. The results show reliable and proper performance of the gripper-dispenser.
