Analysis of Trajectory Influences on the Handling Efficiency of Vacuum-based Granular Grippers

Abstract:
In modern industrial processes, handling continues to be one of the key applications of robotics. Further developments of production processes in combination with continuously smaller and more individualized batches of products require solutions for a universal handling and gripping of differing objects. Soft robotics enabling the application of such universal grippers are therefore an important area of research. An innovative soft robotics gripper combining vacuum gripping principles with the flexibility of granulate grippers was established in previous research and has continued to show its advantages in form-flexible handling. In this publication, the influences of the trajectory for draping the gripper surface on different object geometries as well asthe influences of the forces during the grippers initial contact are examined. Key results verify the possibility of an improved gripping performance for the selected geometries. This research establishes a foundation for further development, such as the application of optimized and object-specific draping strategies or an implementation to achieve an increase in energy-efficiency.