A Flexible Assembly and Gripping Process of Hairpin Baskets †

Established hairpin stators for electric traction motors are made up of a large number
of so-called hairpins. To produce these stators, the individual hairpins must first be pre-
assembled into an auxiliary device in order to achieve the desired winding scheme. The
resulting hairpin basket must then be picked up and transported to the lamination stack.
Automated solutions for both processes are characterized by a high degree of complexity
and low flexibility. Manual assembly, however, is prone to errors. The new approach
presented in this paper is therefore based on the collaborative assembly of the hairpins and
a flexible hairpin basket gripper. A cobot hands the hairpins in the correct sequence to the
operator. The correct positioning of the hairpins in the auxiliary device is ensured by the
use of a monitor located under it. The creation of the correct assembly sequence is partly
automated by a collision detection program. In addition, a new and flexible hairpin basket
gripping concept is presented. Tests show that the cycle times of both new processes are
slow due to hardware limitations. This restricts their use to specific applications, such as
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complex winding patterns or very small quantities