CAGD - Computer Aided Gripper Design for a Flexible Gripping System

摘要

This paper is a summary of the recently accomplished research work onflexible gripping systems. The goal is to develop a gripper which can be usedfor a great amount of geometrically variant workpieces. The economic aspect isof particular importance during the whole development. The high flexibility ofthe gripper is obtained by three parallel used principles. These are human andcomputer based analysis of the gripping object as well as mechanical adaptationof the gripper to the object with the help of servo motors. The focus is on thegripping of free-form surfaces with suction cup.