The Layout of Manipulation Effector

The paper published in the anthology describes an automated selection and optimized layout of vacuum elements in manipulation effectors of industrial robots and manipulators. Computer aided selection provides the user with a complete proposal of the necessary number, size and layout of pneumatic suction cups for manipulation with flat parts of circular or rectangular shapes. The computation of the required size and number of suction cups is conditioned by safe manipulation with the object and layout optimation from the point of providing an allowable deflection of the component, the value of which is determined by the user. The paper presents the basic structure of end effectors and a brief comment on current situation in the area of gripper selection and design. In conclusion there are described possibilities of further completion of the computer aided system for vacuum gripper design.