A novel gripper for limp materials based on lateral Coanda ejectors

Limp materials like textiles, leather, porous tissues, meat and fish fillets do represent challenges in automation. A universal gripping principle that is usable for all these materials is not known. This paper describes a new gripping principle based on a novel Coanda effect ejector meeting these challenges. This ejector allows the construction of a slim, plate-shaped vacuum gripper with multiple independent suction heads. Each suction head is powered by a newly patented lateral Coanda ejector that ensures gripping power on all soft or porous materials. The paper presents results of investigations on important parameters of the Coanda effect gripper.