Automatic grasp planning for self-adjustable gripper frames

Abstract In high-mix, low-volume manufacturing, end-of-arm tooling (EOAT) must be able to handle various products. Conventional EOATs usually comprise fixed or limited-adjustable frames (i.e. manually or using short-stroke pistons) over-equipped with multiple grippers, which are selectively activated based on the product to be grasped. This paper presents a smart gripper frame equipped with only four grippers capable of automatically adjusting to a product’s unique geometry. To this end, a two-dimensional grasp planner has been developed that is supplied with product contours from depth images. The proposed approach has been successfully validated in multiple industrial use cases involving objects with different dimensions and materials, and applying various grippers.