Abstract
This paper introduces a modular system consisting of a 3-DOF robotic local structure with revolute joints. Several different wrist joints are presented where the contact element is systematically varied. On one hand, the range of objects to be handled is analysed concerning the motion task (e.g., pick-and-place-task) and the objects properties. On the other hand, the properties of each contact principle can be considered. On a certain level, the object's properties can be related to those of the contact principles with the aim to identify a minimum set of contact principles for solving a given set of varying motion tasks. Realising these principles with one gripper each and defining general interfaces leads to a modular system, which ensures the versatility, flexibility and reconfigurability required for the introduced parallel handling system.
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