Automated Configuration of Gripper Fingers from a Construction Kit for Robotic Applications
Author:
Friedmann Marco1ORCID, Klüpfel David1, Frech Christian1, Liu Mijian1, Hauf Jan1, Li Gaole1, Friedrich Christian2, Fleischer Jürgen1
Affiliation:
1. wbk Institute of Production Science, Karlsruhe Institute of Technology, 76131 Karlsruhe, Germany 2. Institute of Applied Research, Karlsruhe University of Applied Sciences, 76012 Karlsruhe, Germany
Abstract
Gripper finger design is a complex process that requires a lot of experience, time, and effort. For this reason, automating this design process is an important area of research that has the potential to improve the efficiency and effectiveness of robotic systems. The current approaches are aimed at the automated design of monolithic gripper fingers, which have to be manufactured additively or by machining. This paper describes a novel approach for the automated design of gripper fingers. The motivation for this work stems from the increasing demand for flexible, adaptable handling systems in various industries in response to the increasing individualization of products as well as the increasing volatility in the markets. Based on the CAD data of the handling objects, the most suitable configuration of gripper fingers can be determined from the existing modules of a construction kit for the respective handling object, which can significantly reduce the provisioning time for new gripper fingers. It can be shown that gripper fingers can be effectively configured for a variety of objects and two different grippers, increasing flexibility in industrial handling processes.
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering
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