Flexible Robotic Gripper
Original Publication Date: 1985-Mar-01
Included in the Prior Art Database: 2005-Feb-18
This article describes a flexible robotic mechanical gripper "hand" designed to handle three different-sized electronic components in a testing operation. The disclosed gripper [hand], an end effector utilizing two "fingers", is compatible with small assembly robots which come to the user equipped only with a mechanical arm and a control unit. A pneumatically driven rack and pinion assembly provides parallel motion for the two gripper "fingers". The opening stroke of the hand may be limited at three different positions to allow parts to be picked from closely spaced pallets. Control of the gripper and its limit stops occurs via binary signals transmitted by the robot controller. Sensors located in the [hand] provide "finger" position and "part-presence" information. The gripper (Fig.