Entwicklung eines flexiblen Greifsystems zum situationsabhängigen Greifen komplexer Bauteile im Endmontageprozess des Automobilbaus

The growing diversity of vehicle variations and their shortened product life-cycles result in higher requirements of flexibility in production and manufacturing. Especially in vehicle assembly there is a wide range of parts. The complex assembly processes can only be controlled by manual handwork due to its situation-related adaptability. To support human performance, a concept for a situational grasping unit is to be developed. In an autonomous process, the gripper unit has to separate different components and supply the human with the required parts. During the course of this paper, an assessment methodology for the range of parts is developed. It categorizes the components and reduces them to two classes that are considered in the further process. To realize the required autonomy, an approach for grasp-planning is prepared. The methodological development of the gripper mechanism results in a modular construction system for the gripper jaws and a concept for a mechanism with an own flexibility that combines two active gripper-principles