Gripper arrangement, method and computer-readable medium

WO2026139670A1PCT designated stage Publication Date: 2026-07-02TAMPERE UNIV FOUND SR
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Patent Information

Authority / Receiving Office
WO · WO
Patent Type
Applications
Current Assignee / Owner
TAMPERE UNIV FOUND SR
Filing Date
2025-12-22
Publication Date
2026-07-02

AI Technical Summary

Technical Problem

Gripping and handling of volumetric deformable objects (VDOs), such as raw food, is difficult and prone to failures due to their unpredictable physical behavior, requiring manual labor and lacking efficient automation solutions.

Method used

A gripper arrangement with a matrix-like configuration of suction cups, controlled by a system that detects the object's contour and centroid, determines the optimal suction cup positions, and actuates a subset of cups for reliable gripping, regardless of the object's position or shape.

Benefits of technology

Enables reliable and automated handling of VDOs, reducing manual labor, energy consumption, and enabling flexible, efficient manipulation tasks like pick-and-place, multiple grasps, and posture changes, while minimizing contamination risks.

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    Figure FI2025060197_02072026_PF_FP_ABST
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Abstract

A gripper arrangement (100), a method and a computer-readable medium The arrangement comprises a suction gripper (1), comprising plurality of suction cups (2) arranged in a matrix-like order, and a control system (3) configured to detect the contour of the object (A) to be gripped, determine the centroid (C)of said object, define the positions (P) of the suction cups (2) around the centroid (C) of said object, determine a subset of suction cups of said plurality of suction cups (2) to be actuated for suction based on defined positions of the suction cups on the object and a predefined comparison task, guide the suction gripper (1) on the object (A) such that the suction cups (2) are on the defined positions (P), and actuate the suction cups (2) belonging to said sub-set of suction cups for suction.
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