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A gripper device is described which provides as interface between component of a mechanical device to be assembled and the automatic manipulator performing the assembly.
English (United States)
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100% of the total text.
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Low Cost Multi Functional Component Specific Gripper
A gripper device is described which provides as interface between
component of a mechanical device to be assembled and the automatic
manipulator performing the assembly.
As shown in Fig. 1, the device consists of three parts: a gripping and
orienting block 1 tailored to the manipulator being used; an optional passive
compliance 2 designed specifically for the part being assembled; and a
component specific gripper 3. The device should be low cost and light,
preferably fabricated as a single piece, such as one-piece molded plastic.
Compliance characteristics are achieved by different molded patterns in the
device. The device is either attached to an assembly component 4 before arrival
at the assembly station or is fabricated as a part of the component. At the
assembly station, the manipulator uses the device to handle the component and
assist in assembly. Upon completion, the manipulator disengages or breaks the
device from the component and then drops it as it proceeds to the manipulator's
Special purpose gripping ends include a gripper 5 for a cap 6 (Fig. 2), a pre-
assembly disk holder 7 for a disk 8 (Fig. 3), and a single piece gripper and
component 9 having a breakaway joint 10 (Fig. 4).
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