This paper advances previously developed material handling end effector layout optimization methodology (Ceglarek et al., 1999) by developing an innovative dexterous part-holding end effector model. This model overcomes the shortcomings of the rigid part-holding end effector model and can predict part deformation behavior more accurately for different modes of part deformation under different part-holding end effector layouts. The dexterous model structure design method is presented and an algorithm for estimation of the dexterous end effector model parameters is developed. Experiments verify that the developed dexterous cup model is valid and the model parameter estimation algorithm is adequate. The developed methodology will provide an effective tool for the control of part deformation behavior and can greatly improve the design strategy for material handling of compliant sheet metal parts.
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