Robotic End Effector
Original Publication Date: 1989-May-01
Included in the Prior Art Database: 2005-Jan-28
A multifunctional end effector is described which allows a robot, through the addition of a vertical compliance function, to perform a plurality of tasks including acquisition, positioning, insertion and transporting of parts. Fig. 1 shows the end effector isolated from the robot manipulator. Commercial gripper 10, with associated fingers 11, is modified by mounting mechanism 13 to the top of gripper 10, and adding catch extension 14 to one of the fingers 11. Mechanism 13 (Figs. 2, 3 and 4) consists of vertically compliant, spring-loaded plunger 15 accurately positioned with top and bottom bushings 16 and 17, external spring 18 and captured spring 19. Captured spring 19 is confined by flange 20 of plunger 15 and by top bushing 16.