A Gripper System Design method for the Handling of Textile Parts

  • Fabian Ballier
  • Tobias Dmytruk
  • Jürgen Fleischer
Conference paper


This paper presents the first results in the development of a method for designing gripper systems for handling non-rigid flat parts such as textiles. The work focuses on the use of multiple small individual grippers instead of large-scale grippers to reduce the weight on the end-effector. As a result, not every area of the non-rigid part has a direct contact to a gripper and, therefore, the material between the gripper elements deforms. The goal is to find a gripper system design which takes into account these deformations. Therefore, a first approach to the arrangement of the individual grippers on the non-rigid part will be presented. Furthermore, a reconfigurable gripper system is introduced which makes it possible to set up a wide range of gripper configurations.


Handling system design non-rigid parts 


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Copyright information

© Springer-Verlag GmbH Deutschland, ein Teil von Springer Nature 2018

Authors and Affiliations

  • Fabian Ballier
    • 1
  • Tobias Dmytruk
    • 1
  • Jürgen Fleischer
    • 1
  1. 1.KIT Karlsruhe Institute of TechnologyKarlsruheDeutschland

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