More Flexibility and Versatility in Automated Handling Processes With an Alterable Parallel Manipulator

Abstract

This paper deals with the question of how flexibility and versatility in automated handling and assembly systems can be increased and of how they can be become more efficient and economic in operation. A solution can be given by a novel robot system called PARAGRIP (Parallel Gripping), featuring a reconfigurable architecture with a modular and alterable layout. This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms, which form a closed loop kinematic structure including the handling object as a mobile platform. As the mounting and grasp points of the arms as well as many other parameters can easily be changed, the manipulator can be reconfigured economic to match the user’s preferences and needs. Regrasping the object dynamically with additional arms makes kinematic adjustment possible, even during motion. In this paper the question is raised which different types of reconfiguration are essential and how they can be combined optimally. Several practical examples underline the enhanced performance of the alterable handling system.