Modelling of geometry-independent endeffectors for flexible disassembly tools

The indentation of solids in an object's surface creates new acting surface which can be used to transmit forces for handling, loosening and fixing operations. A verified mathematical description of the indentation process is presented and first results of indentation processes using impulse forces are given. A disassembly tool based on impact indentation loosens screws independent of their head shapes and with minimized reaction forces to the worker.