Bag Bin-Picking Based on an Adjustable, Sensor-Integrated Suction Gripper

Article in Edited Volumes


Publication Details

Author(s): Blank A, Seßner J, Yoo IS, Metzner M, Deichsel F, Diercks T, Eberlein D, Felden D, Leser A, Franke J
Editor(s): Dr.-Ing. Thorsten Schüppstuhl, Prof. Dr.-Ing. Kirsten Tracht, Prof. Dr.-Ing. Jörg Franke
Title edited volumes: Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter
Publisher: Springer Vieweg
Publishing place: Wiesbaden
Publication year: 2018
ISBN: 978-3-662-56713-5
Language: English


Abstract


Robot-based separation and handling of flexible packaging bags filled with small individual parts is a special challenge in the field of bin-picking. Reasons for this are challenges in the field of orientation and position recognition of bags within the extraction station, the damage-free and reliable handling of these bags as well as a precise bag deposition inside a target region (e.g. final packaging). This paper presents an adjustable, sensor-integrated suction gripper optimized for bag bin-picking. The multi-modal sensing hardware used for the gripper is based on weight force measurement and vacuum sensors for the separation. Additional ultrasonic sensors are used to reduce the risk to damage the bag's content and the gripper. The performed tests proof the feasibility of the approach in terms of robustness and achievable cycle times.



FAU Authors / FAU Editors

Blank, Andreas
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Franke, Jörg Prof. Dr.-Ing.
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Metzner, Maximilian
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Seßner, Julian
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Yoo, In Seong
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik


How to cite

APA:
Blank, A., Seßner, J., Yoo, I.S., Metzner, M., Deichsel, F., Diercks, T.,... Franke, J. (2018). Bag Bin-Picking Based on an Adjustable, Sensor-Integrated Suction Gripper. In Dr.-Ing. Thorsten Schüppstuhl, Prof. Dr.-Ing. Kirsten Tracht, Prof. Dr.-Ing. Jörg Franke (Eds.), Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter. Wiesbaden: Springer Vieweg.

MLA:
Blank, Andreas, et al. "Bag Bin-Picking Based on an Adjustable, Sensor-Integrated Suction Gripper." Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter. Ed. Dr.-Ing. Thorsten Schüppstuhl, Prof. Dr.-Ing. Kirsten Tracht, Prof. Dr.-Ing. Jörg Franke, Wiesbaden: Springer Vieweg, 2018.

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Last updated on 2019-01-01 at 05:10