Development of a Pneumatic End-Effector for a 3-DOF Robotic Local Structure

The handling system developed at the IGM enables a quick adaption of the kinematic structure to a new motion task through a modular and versatile concept. Several parallel kinematic robotic arms integrate an object in the kinematic structure by adapting to the object with the end-effectors. Current developments provide the manipulation only of ferromagnetic objects. This paper introduces the development process of an end-effector for a 3-DOF robotic structure using a design methodology increasing the range of objects to be manipulated. Through definition of a solution set with subsequent systematic analysis different concepts for a vacuum gripper are developed. Compressed-air is used as power supply. The robotic local structure is a spherical linkage where the pneumatic hose must be integrated.