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Robot Gripper

IP.com Disclosure Number: IPCOM000047963D
Original Publication Date: 1983-Dec-01
Included in the Prior Art Database: 2005-Feb-08
Document File: 2 page(s) / 56K

Publishing Venue

IBM

Related People

Brennemann, AE: AUTHOR [+2]

Abstract

The present article describes a pneumatically actuated robot gripper. This gripper overcomes deficiencies of the conventional gripping mechanism. Referring to the figure, this gripper is pnuematically actuated, has parallel opening gripping surfaces 10, has demountable gripping surface plates, and provisions 11 for mounting other gripping devices. The design is such that as the parallel lineage arms 18 swing through their travel, the tips of the gripper plates swing through an arc 12. The center of rotation 13 of the arc is placed such that the overall length of the mechanism does not change significantly. This is important when the gripper is positioned above a plane surface, as it is not desirable to have the gripping finger tips scrape or touch the plane as it opens and closes.

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Robot Gripper

The present article describes a pneumatically actuated robot gripper. This gripper overcomes deficiencies of the conventional gripping mechanism. Referring to the figure, this gripper is pnuematically actuated, has parallel opening gripping surfaces 10, has demountable gripping surface plates, and provisions 11 for mounting other gripping devices. The design is such that as the parallel lineage arms 18 swing through their travel, the tips of the gripper plates swing through an arc 12. The center of rotation 13 of the arc is placed such that the overall length of the mechanism does not change significantly. This is important when the gripper is positioned above a plane surface, as it is not desirable to have the gripping finger tips scrape or touch the plane as it opens and closes. For example, referring to the figure, as the gripper opens and closes through its 2-inch range, the arcs of the finger tips cause the overall length of the device to change 0.062 inch or 62 mils 14. This means that this particular gripper can approach a plane as close as 62 mils without interference. Another design feature is that air flow to the piston is internal to the device and provides for a less cluttered work space. Also, note that the air is supplied through mounting shaft opening 16. Typical design values for the device shown are (a) 2-inch gripping capacity, (b) gripping force of 14 lbs. @ 80 PSI supply, (c) opening force of 3 lbs. supplied by the return spring...