Model based design of process-specific handling tools for workpieces with many variants in shape and material

Dröder, Klaus; Dietrich, Franz; Löchte, Christian; Hesselbach, Jürgen

doi:10.1016/j.cirp.2016.04.109

Cited by 12 publications

(5 citation statements)

References 7 publications

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“…This previous research also examined influences of the airflow rate and vacuum on the state of the granulate material, with a certain solidity of the granulate being reached for the best vacuum seal and thus the highest vacuum. In this state the gripper combines the two gripping principles most effectively and the highest gripping forces are reached [5]. The key advantage compared to previous research on granulate grippers is the combination of the ability to grip flat objects [14] with the large increase in adaptability achieved with the granulate gripping principles.…”

Section: Previous Workmentioning

confidence: 99%

“…In order to assess the suitability of a universal gripper for a spectrum of grippable objects, the respective effective gripping force and success frequency has to be examined in order to validate a grippers applicability [4]. The main focus of this publication is the development of such an assessment for a universal gripper created at the Technische Universität Braunschweig [5] and to enable an analytical model to predict the respective gripping forces for different types of object contours.…”

Section: Introduction -Challenges For Universal Handlingmentioning

confidence: 99%

“…Fig.3. Influencing factors for the achievable gripping strength with the examined vacuum-based granulate gripper[5,22,23] …”

mentioning

confidence: 99%

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Empirically adapted model for the Handling of Variable Geometries with Vacuum-based Granulate Grippers

Wacker¹,

Dierks²

2022

Preprint

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<p> Current industrial trends show an increasing demand for individualized products, which require highly flexible yet automated production systems. Universal handling systems offer an efficient solution for the flexible and safe handling of differing component geometries and shapes. An innovative gripper for form-flexible handling combining vacuum systems with the flexibility of granulate grippers was established in previous research and has continued to prove its flexibility by gripping wide varieties of object geometries. The current challenge of modelling and predicting gripping forces for this new gripper is addressed in this research. Multiple object geometries are selected and examined, with the parameters affecting the air permeability being the most important influence for the gripping forces. Along with an overview of influencing factors and parameters, a framework for a linear model enabling the prediction of gripping forces for different object shapes is developed. The basis for automated prediction of gripping strengths for different types of objects is established with this research and could be adapted with other, non-analytical models such as machine learning in the future. </p>

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Section: Previous Workmentioning

confidence: 99%

Section: Introduction -Challenges For Universal Handlingmentioning

confidence: 99%

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Empirically adapted model for the Handling of Variable Geometries with Vacuum-based Granulate Grippers

Wacker¹,

Dierks²

2022

Preprint

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“…The examined gripping solution was developed at TU Braunschweig [27,28] and has opened up possibilities for the handling of a large variety of object geometries with a single gripper (see Figure 1). This gripper shows some similarities to granular grippers [29], the most characteristic difference being the porous area in the membrane.…”

Section: Examined Grippermentioning

confidence: 99%

Analytic and Data-Driven Force Prediction for Vacuum-Based Granular Grippers

Wacker,

Dierks,

Kwade

et al. 2024

Machines

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As manufacturing and assembly processes continue to require more adaptable systems for automated handling, innovative solutions for universal gripping are emerging. These grasping systems can enable the handling of wide varieties of shapes, with gripping forces varying with grasped geometries. For the efficient usage of handling systems, precise offline and online prediction models for resulting grasping forces for different objects are necessary. In previous research, a flexible vacuum-based granular gripper was developed, for which no option for predicting gripping forces is currently available. Various gripping force prediction methodologies within the current state of the art are examined and evaluated. For an assessment of grasping forces of previously untested objects for the examined gripper with limited data and low computational effort, two methodologies are proposed. An analytical, 2D-geometry-derived gripper-specific metric for geometries is compared to a methodology based on similarities of objects to a small existing dataset. The applicability and prediction quality for different object types is analyzed through validation experiments. Gripping force estimations are possible with both methodologies, with individual weaknesses towards geometric features such as air permeabilities. With further development, robust predictions of gripping forces could be achieved for a wide range of unknown object geometries with limited experimental effort.

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“…They are mainly used for either objects smaller than the gripper or objects with distinct protruding geometries, where a secure grip can be achieved. In an attempt to combine the possibilities of the formfitting properties of granular grippers with the ability to securely grip objects with less prominent features, a modification of the standard granular gripper was developed at TU Braunschweig [13][14][15]. In this approach, the mechanism of achieving successful gripping through suction effects is replaced (Figure 2 a)) and improved upon by actively supporting the suction with a permeable membrane at the gripper-object-interface (GOI) (Figure 2 b)).…”

Section: Goals and State Of The Artmentioning

confidence: 99%

Experimental assessment and prediction of design parameter influences on vacuum-based granular grippers

Wacker

Dierks

Kwade

et al. 2023

Preprint

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Innovative soft robotic grippers, such as granular grippers, enable the automated handling of a wide spectrum of different geometries, increasing the flexibility and robustness of industrial production systems. Granular grippers vary in their design as well as the configuration, which affects the specific characteristics and capabilities regarding grippable objects. Relevant aspects are the selection of granulates and membranes, as they affect the deformability. This results in influences on the achievable gripping forces, which vary with the gripped objects geometry. The present research investigates the influences of different configurations on the achievable gripping forces for an innovative vacuum-based granular gripper concept. Specifically, the focus lies on design as well as configuration parameters, which could influence the achievable gripping force. Influencing parameters are determined based on a literature review of similar gripping concepts. Various adjustment possibilities are identified, such as materials of granulates or membranes. The possible configuration options are experimentally analyzed with a one-factor-at-a-time approach. The possibility of modelling their interrelations is examined with approaches for linear models and compared to interpolations based on Machine Learning. Especially the granulate filling level and the membrane configuration exhibit the largest influences, which were best predicted with the approach based on artificial neural networks. A selection of an optimized gripper configuration for a specified object set as well as possible further developments such as a continuous expandability of the approaches and integrations with simulations are discussed. As a result of these analyses, this research provides methodologies for an optimized selection of a gripper configuration for an improved object-specific achievable gripping force and allows for more efficient handling processes with the examined type of vacuum-based granular gripper.

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Model based design of process-specific handling tools for workpieces with many variants in shape and material

Cited by 12 publications

References 7 publications

Empirically adapted model for the Handling of Variable Geometries with Vacuum-based Granulate Grippers

Empirically adapted model for the Handling of Variable Geometries with Vacuum-based Granulate Grippers

Analytic and Data-Driven Force Prediction for Vacuum-Based Granular Grippers

Experimental assessment and prediction of design parameter influences on vacuum-based granular grippers

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