Self-adaptable passive gripping system for industrial robots

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 6Sprache: EnglischTyp: PDF

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Felsch, Torsten; Herker, Christian (Fraunhofer IFF, Magdeburg, Germany)

Typical gripping kinematics for industrial robots have a fixed geometry which is suitable for only one specific part. So the reutilisation for other parts is restricted and associated with high effort for manual changeover. The presented poster shows a flexible gripping system with the possibility of self-adaptation to different workpieces. The adaptation is based on a robot-guided gripping system having a large number of passive joints without motion drives. These passive joints are normally fixed during operation and can be released in case of reconfiguration. The robot trajectory to reconfigure the gripping system is calculated using the 3D CAD data of the part. Restraints during the robot reconfiguration will be compensated with a sensor-controlled algorithm.