Center Locating Gripper
Original Publication Date: 1985-Mar-01
Included in the Prior Art Database: 2005-Feb-18
The gripper comprises two orthogonally mounted pairs of jaws, swiveling on a common sliding disk. A spring and collar arrangement allows them to be closed sequentially by a single actuator. The manner of closing allows the same set of four jaws to grasp objects of a variety of sizes and shapes and to center these objects without the use of feedback or sensor mechanisms. The inner pair of jaws, as shown in the figure, closes first. The jaws are actuated by a disk or button which is mounted on the end of a linear-motion actuator shaft. This, in turn, is centered on the axis of the sliding disk. This actuator moves with respect to the sliding disk and drives the button, which is engaged in slots cut in the inner face of the inner pair of jaws.