Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001

39.4.2 Gripper Mechanisms

 

· A gripper is specifically EOAT that uses a mechanical mechanism and actuator to grasp a part with gripping surfaces (aka fingers)

 

· Quite often gripper mechanisms can be purchases, and customized fingers attached.

 

· Fingers are designed to,

  1. 1. Physically mate with the part for a good grip
  2. 2. Apply enough force to the part to prevent slipping

 

 

· Movements of the fingers

  1. - pivoting (often uses pivotal linkages)
  2. - linear or translational movement (often uses linear bearings and actuators)

 

· Typical mechanisms

  1. - linkage actuation
  2. - gear and rack
  3. - cam
  4. - screw
  5. - rope and pulley
  6. - miscellaneous - eg. bladder, diaphragm

 

 

 

 

 

 

 

 

39.4.2.1 - Vacuum grippers