Development of a Method for Gripping Fragile Objects with a Robot Manipulator

Abstract

In this paper, the authors present a method for gripping fragile objects by an industrial robot manipulator. The developed method consists of an electric gripping device and its control algorithm. The gripper has been developed for use with manipulator robots from any manufacturer, provided that the robot controller is equipped with a digital output. The testing of the gripper on the Kuka KR 4 industrial robot has shown that the developed gripper can work with various types of objects, including those of variable shape. At the same time, the sensor for detecting the presence of an object works correctly and returns a control signal to the robot controller.