In times of ever increasing performance requirements imposed on newly developed products, fiber reinforced plastics have become essential for lightweight applications. While mass related stiffness and strength are huge advantages, automatic handling of the raw materials, such as fabrics, can be very challenging. Low-pressure suction grippers have been proven to be capable of handling fragile air-permeable materials in a non-destructive manner, giving them a clear advantage over potentially damaging competing gripping technologies such as needle grippers. However, they also consume large amounts of energy to ensure successful handling operations. This research aims to estimate disturbance forces applied to the manipulated workpiece by monitoring its internal suction pressure, which will in turn allow for running the grippers at a bare minimum power while still being able to react to disturbances enabling safe handling operations.
Disturbance Force Estimation for a Low Pressure Suction Gripper Based on Differential Pressure Analysis.
Annals of Scientific Society for Assembly, Handling and Industrial Robotics ; Kapitel : 24 ; 263-273
2020-07-21
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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