TY - JOUR
T1 - Grasping devices and methods in automated production processes
AU - Fantoni, Gualtiero
AU - Santochi, Marco
AU - Dini, Gino
AU - Tracht, Kirsten
AU - Scholz-Reiter, Bernd
AU - Fleischer, Juergen
AU - Kristoffer Lien, Terje
AU - Seliger, Guenther
AU - Reinhart, Gunther
AU - Franke, Joerg
AU - Nørgaard Hansen, Hans
AU - Verl, Alexander
N1 - Funding Information:
This work was partially supported by RobLog Project (FP7 ICT-270350) and by the University and Federal State of Bremen within the APF-Schwerpunktprojekt Integrated Solutions in Sensorial Structure Engineering (ISIS-Grant number 007056 ).
PY - 2014
Y1 - 2014
N2 - In automated production processes grasping devices and methods play a crucial role in the handling of many parts, components and products. This keynote paper starts with a classification of grasping phases, describes how different principles are adopted at different scales in different applications and continues explaining different releasing strategies and principles. Then the paper classifies the numerous sensors used to monitor the effectiveness of grasping (part presence, exchanged force, stick-slip transitions, etc.). Later the grasping and releasing problems in different fields (from mechanical assembly to disassembly, from aerospace to food industry, from textile to logistics) are discussed. Finally, the most recent research is reviewed in order to introduce the new trends in grasping. They provide an outlook on the future of both grippers and robotic hands in automated production processes.
AB - In automated production processes grasping devices and methods play a crucial role in the handling of many parts, components and products. This keynote paper starts with a classification of grasping phases, describes how different principles are adopted at different scales in different applications and continues explaining different releasing strategies and principles. Then the paper classifies the numerous sensors used to monitor the effectiveness of grasping (part presence, exchanged force, stick-slip transitions, etc.). Later the grasping and releasing problems in different fields (from mechanical assembly to disassembly, from aerospace to food industry, from textile to logistics) are discussed. Finally, the most recent research is reviewed in order to introduce the new trends in grasping. They provide an outlook on the future of both grippers and robotic hands in automated production processes.
KW - Assembly
KW - Automation
KW - Grippers
UR - http://www.scopus.com/inward/record.url?scp=84905907297&partnerID=8YFLogxK
U2 - 10.1016/j.cirp.2014.05.006
DO - 10.1016/j.cirp.2014.05.006
M3 - Article
AN - SCOPUS:84905907297
SN - 0007-8506
VL - 63
SP - 679
EP - 701
JO - CIRP Annals - Manufacturing Technology
JF - CIRP Annals - Manufacturing Technology
IS - 2
ER -