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Automated Configuration of Gripper Fingers from a Construction Kit for Robotic Applications

Friedmann, Marco 1; Klüpfel, David 1; Frech, Christian 1; Liu, Mijian 1; Hauf, Jan 1; Li, Gaole 1; Friedrich, Christian; Fleischer, Jürgen 1
1 Institut für Produktionstechnik (WBK), Karlsruher Institut für Technologie (KIT)

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.


Verlagsausgabe §
DOI: 10.5445/IR/1000161997
Veröffentlicht am 11.09.2023
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Produktionstechnik (WBK)
Publikationstyp Zeitschriftenaufsatz
Publikationsmonat/-jahr 08.2023
Sprache Englisch
Identifikator ISSN: 2075-1702
KITopen-ID: 1000161997
Erschienen in Machines
Verlag MDPI
Band 11
Heft 8
Seiten Art.-Nr.: 804
Vorab online veröffentlicht am 04.08.2023
Schlagwörter robotic gripper, grippers fingers, design automation
Nachgewiesen in Dimensions
Web of Science
Scopus
Globale Ziele für nachhaltige Entwicklung Ziel 9 – Industrie, Innovation und Infrastruktur
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