Robotic handling for flat non-rigid materials

摘要

This paper deals with the conception, construction and simulation of gripping systems for handling flat non-rigid materials (NRMs). A prototype gripping system dedicated to handle regular shaped flat materials, has been designed, constructed and experimentally tested. In addition two other gripping systems for grasping irregular shaped NRMs have also been designed and simulated through this work. A consistent review in end effector technology has been made, and a thoroughly conception design along with the functional requirements and proposals for the proposed "gripping systems" are described. The final decision and implementation for the gripper along with the design study and construction are presented. Experimental and simulation results of the final version of the grippers and discussion are provided.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>