TY  - CPAPER
U1  - Konferenzveröffentlichung
A1  - Kirner, Fabian
A1  - Wendt, Thomas
A1  - Hangst, Nikolai
T1  - 3D Bin Picking with an innovative powder filled gripper and a torque controlled collaborative robot
T2  - Proceedings : SMSI 2023 Conference
N2  - A new and innovative powder filled gripper concept will be introduced to a process to pick parts out of a box without the use of a camera system which guides the robot to the part. The gripper is a combination of an inflatable skin, and a powder inside. In the unjammed condition, the powder is soft and can adjust to the geometry of the part which will be handled. By applying a vacuum to the inflatable skin, the powder gets jammed and transforms to a solid shaped form in which the gripper was brought before applying the vacuum. This physical principle is used to pick parts. The flexible skin of the gripper adjusts to all kinds of shapes, and therefore, can be used to realize 3D bin picking. With the help of a force controlled robot, the gripper can be pushed with a consistent force on flexible positions depending of the filling level of the box. A Kuka LBR iiwa with joint torque sensors in all of its seven axis’ was used to achieve a constant contact pressure. This is the basic criteria to achieve a robust picking process.
KW  - powder filled gripper
KW  - vacuum
KW  - 3D bin picking
KW  - force controlled robot
KW  - joint torque sensors
Y1  - 2023
U6  - https://doi.org/10.5162/SMSI2023/D4.3
DO  - https://doi.org/10.5162/SMSI2023/D4.3
SP  - 225
EP  - 226
PB  - AMA Service GmbH
CY  - Wunstorf
ER  -