Design of robot grippers and fixtures for robotic manufacturing

Norbert Krüger (Inventor), Lukas Christoffer Malte Wiuf Schwartz (Inventor), Lars-Peter Ellekilde (Inventor)

Research output: Patent


The invention relates to a method for designing grippers and fixtures for handling objects in robotic manufacturing and pick-and-place tasks. To achieve this a method for determining a shape of the holding or support surface of the gripper or fixture is presented. This method includes steps of determining an initial shape of the support surface based on an outer shape of the object, applying a shaping function to different locations of the initial shape, determining modified shape points at locations of the initial shape by comparing the applied shaping function with the initial shape. If the application of the shaping function results in an extension of the initial shape G(xi,yj) at the neighbour location (xi, yj) this extension forms part of a modified support surface for the gripper or fixture. A method for determining an optimum shape of the support surface with respect to optimization conditions is also presented.
Original languageEnglish
Patent numberWO2019073032A1
Filing date12/10/2018
Priority date13/10/2017
Priority numberEP17196424A
Publication statusPublished - 18. Apr 2019


Dive into the research topics of 'Design of robot grippers and fixtures for robotic manufacturing'. Together they form a unique fingerprint.

Cite this