Grasping devices and methods in automated production processes |
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| Authors: | Gualtiero Fantoni,Marco Santochi,Gino Dini,Kirsten Tracht,Bernd Scholz-Reiter,Juergen Fleischer,Terje Kristoffer Lien,Guenther Seliger,Gunther Reinhart,Joerg Franke,Hans Nø rgaard Hansen,Alexander Verl |
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| Affiliation: | 1. Department of Civil and Industrial Engineering, University of Pisa, Pisa, Italy;2. Bremen Institute for Mechanical Engineering (BIME), University of Bremen, Badgasteiner Straße 1, 28359 Bremen, Germany;3. Department of Planning and Control of Production Systems, BIBA, University of Bremen, Germany;4. wbk Institute of Production Science, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany;5. Department of Production and Quality Engineering, Norwegian University of Science and Technology, Trondheim, Norway;6. Department of Assembly Technology and Factory Management, Institute for Machine Tools and Factory Management, Technical University Berlin, Germany;g Institute for Machine Tools and Industrial Management (iwb), Technische Universitat Munchen, Munich, Germany;h Institute for Factory Automation and Production Systems, Friedrich-Alexander-University Erlangen-Nuremberg, Erlangen, Germany;i Department of Mechanical Engineering, Technical University of Denmark, Lyngby, Denmark;l Institute for Control Engineering of Machine Tools and Manufacturing Units, Stuttgart, Germany |
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| Abstract: | In automated production processes grasping devices and methods play a crucial role in the handling of many parts, components and products. This keynote paper starts with a classification of grasping phases, describes how different principles are adopted at different scales in different applications and continues explaining different releasing strategies and principles. Then the paper classifies the numerous sensors used to monitor the effectiveness of grasping (part presence, exchanged force, stick-slip transitions, etc.). Later the grasping and releasing problems in different fields (from mechanical assembly to disassembly, from aerospace to food industry, from textile to logistics) are discussed. Finally, the most recent research is reviewed in order to introduce the new trends in grasping. They provide an outlook on the future of both grippers and robotic hands in automated production processes. |
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| Keywords: | Assembly Automation Grippers |
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