Servo Controlled Robot Gripper
Original Publication Date: 1987-Dec-01
Included in the Prior Art Database: 2005-Feb-02
A method of controlling the gripping force of a robot jaw is disclosed requiring no additional circuitry or control lines. When picking up a part where size and weight are known, the jaw opening is initially controlled to be slightly larger than the part and moved over the part. Then the servo system driving the jaw motor is set to drive the jaws to an opening slightly less than the part size calculated to apply a known force to grip the part. In a robotic assembly cell one or more mechanical grippers are normally provided to enable parts to be picked up, and it is quite common for the jaw openings of these to be servo-controlled to allow the opening to be set just larger than the particular part to be opened while moving to the part.