The automated unloading phase of a container can be very complicate, since the unstructured environment of the inner space. Gripping systems have to be able to grasp reliably goods that may have fallen down from piles, or which are stacked into the container in a chaotic manner. The paper investigates the grippers designed and realized to face these problems for containers full of coffee sacks made of jute. This is one of the goals of the RobLog European project. Some gripping principles are described, while the grippers which have been manufactured are illustrated more in detail. The paper presents also some results of the tests performed with the grippers which have been designed, and highlights the possible future development of these types of gripper.
A Challenge for Automation in Logistics: Gripping Systems for Automatically Unloading of Coffee Sacks
FANTONI, GUALTIERO;TILLI, JACOPO;
2014-01-01
Abstract
The automated unloading phase of a container can be very complicate, since the unstructured environment of the inner space. Gripping systems have to be able to grasp reliably goods that may have fallen down from piles, or which are stacked into the container in a chaotic manner. The paper investigates the grippers designed and realized to face these problems for containers full of coffee sacks made of jute. This is one of the goals of the RobLog European project. Some gripping principles are described, while the grippers which have been manufactured are illustrated more in detail. The paper presents also some results of the tests performed with the grippers which have been designed, and highlights the possible future development of these types of gripper.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
