Robotic System Tactile-Sensing Gripper End-Of-Arm-Tooling
Original Publication Date: 1986-Jan-01
Included in the Prior Art Database: 2005-Mar-08
This article describes a robotic system tactile-sensing gripper end- of-arm-tooling (EOAT) for picking and placing and/or removing electronic modules on printed circuit (PC) boards. Current robotic grippers have a tendency to disturb the placement of an electronic module when withdrawing. The device disclosed herein enables the pins embedded in a PC board to hold the module while the EOAT withdraws laterally. Referring to Fig. 1, a four-bar parallel- acting gripper can pick up a prepositioned magazine-fed module. There is enough surface above the pin-frame on the ends to allow the two tactile-sensing gripper plates A to engage module body B with perfect pin alignment (all pins must be straight and square) to the PC board holes.