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Published in:
2018 | OriginalPaper | Chapter
A Gripper System Design method for the Handling of Textile Parts
Authors : Fabian Ballier, Tobias Dmytruk, Jürgen Fleischer
Published in: Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter
Publisher: Springer Berlin Heidelberg
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This paper presents the first results in the development of a method for designing gripper systems for handling non-rigid flat parts such as textiles. The work focuses on the use of multiple small individual grippers instead of large-scale grippers to reduce the weight on the end-effector. As a result, not every area of the non-rigid part has a direct contact to a gripper and, therefore, the material between the gripper elements deforms. The goal is to find a gripper system design which takes into account these deformations. Therefore, a first approach to the arrangement of the individual grippers on the non-rigid part will be presented. Furthermore, a reconfigurable gripper system is introduced which makes it possible to set up a wide range of gripper configurations.