Design of a Gripping System for the Automated Assembly of Large Building Modules

A substantial part of automated material handling and assembly is the interface between machine and work piece. These end-effectors may be gripping devices which actually hold the object for moving or placing it within the working range of the machine. But the mere holding of an object while transfering it from one point to another is in most cases not the only function of a gripper. It may also be equipped with sensing capabilities and other features. This paper describes a gripping system for large building components, such as twodimensional panels or slabs and three-dimensional modules. The system comprises the gripping mechanism itself as well as its supporting environment. At first the different functions and the performance of the projected system are investigated and analysed. The second part deals with the design of the gripping system itself.