Parallel Motion Robotic Gripper
Original Publication Date: 1985-May-01
Included in the Prior Art Database: 2005-Feb-18
A parallel motion robotic gripper for clean room use is driven by a small DC motor driving an output shaft through a two-stage epicyclic gear. The output shaft carries a gear engageable with two opposite-sided racks connected to the gripper jaws. Concertina bellows seal the body of the gripper to each jaw and the jaws to each other. The gripper assembly comprises a sealed motor housing 1 in which is secured the stator 2 of a small cobalt rare earth DC torque motor whose rotor 3 is rotatably mounted in bearings in the housing 1. The motor housing 1 is attached at one end to the guide arm of a robotic machine. At the other end, the housing 1 is connected to a gearbox housing 4 within which is a two-stage epicyclic gear 5 driven by the rotor shaft of the motor and having a central output shaft carrying a drive pinion 6.