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HORIZONTAL 3 FINGER ROBOT GRIPPER

IP.com Disclosure Number: IPCOM000006042D
Original Publication Date: 1991-Apr-01
Included in the Prior Art Database: 2001-Nov-28
Document File: 2 page(s) / 75K

Publishing Venue

Motorola

Related People

Alan Clayton: AUTHOR [+2]

Abstract

The Horizontal 3 Finger gripper provides a means to grasp many different shaped radio components and to manipulate them effectively in multiple planes. This has become necessary due to variations in packaging methods~of components and methods of testing within the robot envelope.

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MOTOROLA INC. Technical Developments Volume 12 April 1991

HORIZONTAL 3 FINGER ROBOT GRIPPER

by Alan Clayton and Jack Vanderzee

  The Horizontal 3 Finger gripper provides a means to grasp many different shaped radio components and to manipulate them effectively in multiple planes. This has become necessary due to variations in packaging methods~of components and methods of testing within the robot envelope.

  Conventional grippers grasp a part from the top or from the sides and would require a finger change to grasp parts of a different form factor. The 3 Finger Gripper has multifaceted features which allow tailoring to fit a corresponding feature on the component to be handled. It also has a very low profile which allows the component to be placed into close quarters. This is necessary in an application where a component such as a portable radio must be placed into a test fixture which requires contact with 5 sides of the radio.

When dealing with the complicated scara robot's coordinate svstem, it is often necessary to maintain

that all operations and programmed points be centered to the robot's Theta axis. When manipulating in multiple planes, this is not possible. To simplify the coordinate system and coordinate transformation, it is essential to keep the component offset constant relative to the Theta axis. This accomplished with the opposed motion of the 3 Finger Gripper.

THEORY OF OPERATION

  The key components of the 3 Finger Gripper are the thumb, 2 fingers,...