@inproceedings{HangstJunkWendt2020,
  author    = {Nikolai Hangst and Stefan Junk and Thomas Wendt},
  title     = {Design of an Additively Manufactured Customized Gripper System for Human Robot Collaboration},
  series = {Industrializing Additive Manufacturing : Proceedings of AMPA2020},
  editor    = {Mirko Meboldt and Christoph Klahn},
  publisher = {Springer Nature Switzerland},
  address   = {Cham},
  isbn      = {978-3-030-54333-4 (Print)},
  doi       = {10.1007/978-3-030-54334-1\_29},
  pages     = {415 -- 425},
  year      = {2020},
  abstract  = {The Human-Robot-Collaboration (HRC) has developed rapidly in recent years with the help of collaborative lightweight robots. An important prerequisite for HRC is a safe gripper system. This results in a new field of application in robotics, which spreads mainly in supporting activities in the assembly and in the care. Currently, there are a variety of grippers that show recognizable weaknesses in terms of flexibility, weight, safety and price. By means of Additive manufacturing (AM) gripper systems can be developed which can be used multifunctionally, manufactured quickly and customized. In addition, the subsequent assembly effort can be reduced due to the integration of several components to a complex component. An important advantage of AM is the new freedom in designing products. Thus, components using lightweight design can be produced. Another advantage is the use of 3D multi-material printing, wherein a component with different material properties and also functions can be realized. This contribution presents the possibilities of AM considering HRC requirements. First of all, the topic of Human-Robot-Interaction with regard to additive manufacturing will be explained on the basis of a literature review. In addition, the development steps of the HRI gripper through to assembly are explained. The acquired knowledge regarding the AM are especially emphasized here. Furthermore, an application example of the HRC gripper is considered in detail and the gripper and its components are evaluated and optimized with respect to their function. Finally, a technical and economic evaluation is carried out. As a result, it is possible to additively manufacture a multifunctional and customized human-robot collaboration gripping system. Both the costs and the weight were significantly reduced. Due to the low weight of the gripping system only a small amount of about 13\% of the load of the robot used is utilized.},
  language  = {en}
}