Effector with adaptive contour and variable gripping capability

A system for handling and processing fabric parts, the system comprising:

• a handling robot with an effector for handling a fabric part;
• a joining unit for at least one of processing a fabric part and connecting at least two fabric parts;
• wherein the effector is configured to feed a fabric part to the joining unit and to hold it during processing by the joining unit;
• wherein the effector comprises at least five fixing elements;
• wherein each fixing element is configured to fix a region of the fabric part to the effector;
• and
• wherein the five fixing elements are coupled to the effector so as to be movable relative to one another along an x-y plane in such a way that an adjustable pentagon can be formed within the x-y plane by connecting lines between the fixing elements, thereby allowing that a fixable fabric part can be spanned.

A method for handling and processing fabric parts, the method comprising:

• separating a fabric part from a fabric stack by means of an effector of a handling robot for handling the fabric part;
• feeding the fabric part to a joining unit by means of the effector;
• at least one of processing the fabric part in a joining unit and connecting at least two fabric parts by the joining unit,
• wherein the effector is configured to hold the fabric part during processing by the joining unit,
• wherein the effector comprises at least five fixing elements,
• wherein each fixing element is configured to fix a region of the fabric part to the effector;
• and
• moving the fixing elements relative to one another along an x-y plane relative to one another, so that connecting lines between the fixing elements form an adjustable pentagon within the x-y plane, thereby allowing that the fixed fabric part can be spanned.