부산대학교 도서관

Automatic depalletizing is becoming a practice widely applied in warehouses to automatize and speed-up logistics. On the other hand, the necessity to adapt the preexisting logistic lines to a custom automatic system can be a limit for the application of robotic solutions into smaller facilities like supermarkets. In this work, we tackle this issue by proposing a flexible and adaptive gripper for robotic depalletizing. The gripper is designed to be assembled on the end-tip of an industrial robotic arm. A novel patent-pending mechanism allows grasping boxes and products from both the upper and the lateral side enabling the depalletizing of boxes with complex shape. Moreover, the gripper is reconfigurable with five actuated degrees of freedom, that are automatically controlled using the embedded sensors to adapt grasping to different shapes and weights.