DiggiWorms – Intelligent and flexible search and grab system

The aim is the automated, robot-based component detection and removal of a component from the sand or powder bed in additive manufacturing processes. 

The feasibility is tested and demonstrated using a component from binder jetting. For this purpose, the scientists of the Fraunhofer IGCV are developing and implementing a prototypical overall system that makes it possible to detect, grip and lift out fragile sand cores in the installation space by means of an innovative search and gripping system with integrated sensor technology. 

With the 3D model as input, the gripping positions and the movements of the robot are first calculated with the help of an algorithm. The gripping system digs into the sand like a hand. With the mobility of worms, the individual fingers penetrate the sand layers, which become denser towards the bottom. The segmented design of the individual worms enables impressive flexibility in all directions. 

Integrated sensors give the worm fingers the necessary dexterity to intelligently locate and carefully feel the component in the installation space. Once the component has been located, they wrap themselves around the component according to size and geometry and pull it out of the installation space - without crushing it.  

In the next project phase, adjustments will be made to clean printed sand casting moulds precisely and automatically and to remove excess powder.

The aim is the automated, robot-based component detection and removal of a component from the sand or powder bed in additive manufacturing processes. 

The feasibility is tested and demonstrated using a component from binder jetting. For this purpose, the scientists of the Fraunhofer IGCV are developing and implementing a prototypical overall system that makes it possible to detect, grip and lift out fragile sand cores in the installation space by means of an innovative search and gripping system with integrated sensor technology. 

With the 3D model as input, the gripping positions and the movements of the robot are first calculated with the help of an algorithm. The gripping system digs into the sand like a hand. With the mobility of worms, the individual fingers penetrate the sand layers, which become denser towards the bottom. The segmented design of the individual worms enables impressive flexibility in all directions. 

Integrated sensors give the worm fingers the necessary dexterity to intelligently locate and carefully feel the component in the installation space. Once the component has been located, they wrap themselves around the component according to size and geometry and pull it out of the installation space - without crushing it.  

In the next project phase, adjustments will be made to clean printed sand casting moulds precisely and automatically and to remove excess powder.