Multi Finger Robot


I made a pick and place robot with 24 fingers, the fingers spacing increases as it is approaching the place the position. However, currently the robot picks only one part. how can I make each finger pick a part and then approach the placing position while also spacing the parts with the finger during the approach.

Thank You


One option could be to add sensor(s) to gripper (e.g. sensor + container per finger / pair). When You move robot to pick location, send signal from robot executor / sequence to gripper’s script. In script, You could detect which sensors detect a part, and then grab that part to finger specific container.

When releasing (again with signal), check which containers have part and then grab those parts to e.g. conveyor.

I hope I understood You problem correctly.