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Authors
Rezia Molfino; Roberto P. Razzoli; Matteo Zoppi

Identifier
10.3182/20060906-3-IT-2910.00084

Index Terms
assembly,design,automation,handling,manipulation

Abstract
The paper addresses the flexible assembly and disassembly of electro-mechanical products in white industry. The work is in the frame of a research project on modular assembly systems for innovative production systems. For the assembly and disassembly of washing-machine components, instead of a sequence of dedicated stations with specialized grippers designed for each component, the alternative solution of highdegree-of-freedom assembly cells using reconfigurable grippers for components holding and handling is investigated. A low-cost, multifunctional adaptable gripper for handling cylindrical and prismatic shaped parts within dimensional ranges typical of the washing machines components, as provided by the industrial partner Electrolux-Zanussi, is presented and its functionalities shown and evaluated.

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