Parallel Cooperation Of Robots During Handling Jumbo Glass Sheets

In the study, the mechanical behaviour of the robot, end effector - object - end effector, robot system is analysed in terms of external forces affecting robots and their grippers as well as deformation forces influencing on the glass sheet thorough grippers provided that the robot kinematical structure and vacuum gripping head form an absolutely rigid system. The solution results are stress fields in the glass sheet, requirements for the robot path accuracy, and recommendations for solving special vacuum grippers for this type of robotic handling.