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Robotic Grippers

Robotic Grippers. Victor Chiang. Applied Robotics’ Grippers. Meat Gripper Handle non-uniform products (all types of meats) Cleanliness High speed. Can be customized with a variety of unique fingers to handle just about anything

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Robotic Grippers

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  1. Robotic Grippers Victor Chiang

  2. Applied Robotics’ Grippers Meat Gripper Handle non-uniform products (all types of meats) Cleanliness High speed • Can be customized with a variety of unique fingers to handle just about anything • Close tolerances with supported jaw guides in treated steel for maximum durability and grip force • Jaws have both top and side mounting locations for fingers • Side and top access to pneumatic ports • Sensor ready • 10 million cycle life Heavy Duty Bag Gripper Palletizing applications split-fork design Smart Gripper 3.0 Offers easy integration with most commercially available robots

  3. SCHUNK, ZAYTRAN, RAD, IPRProvides similar grippers 2-Jaw Pneumatic Parallel Robotic Grippers 3-Jaw Pneumatic Parallel Robotic Grippers Collet Robotic Grippers GPL Series - Highest grip force to mass ratio Offers longest strokes in the market

  4. SCHUNK 2-Finger Angular Grippers 2-Finger Radial Grippers Multi-Finger Concentric Grippers

  5. SCHMALZVacuum Gripping System Has huge range of sizes and strengths Grips externally or internally Picks up from soft bread roll to engine block Accounts for 65% of gripping applications Low cost Light weight Easy to design, setup and reuse Has wide range of standard components available

  6. Special Grippers Floating suction pads Diameter: 20 to 60 mm Holding force: 1.5 to 7.5 N Floating suction pad for low-contact handling of paper, film, wood veneer, printed circuit boards, wafers, etc. Magnetic grippers Diameter: 30 to 70 mm Holding force: 35 to 290 N Magnetic gripper for the handling of steel sheets with holes and apertures. Needle grippers Needle diameter: 1.2 / 2.0 mm Number of needles: 24 Needle stroke: 17,5 mm Needle gripper for materials which are difficult to grip with vacuum, such as textiles, carpets, etc., particularly large version.Wafer grippers SWG-5 115x115x79 Particularly suitable for the extremely fast, precise and damage-free handling of highly sensitive wafer and solar cells. Coanda grippers Handling of extremely thin, sensitive foils, fiberglass fabric, etc.

  7. Selecting a gripper • gripper force is a first order consideration, the torque that is experienced by the gripper is equally as critical • In the case of grippers, 10 pounds of force from each jaw delivers a total of 10 pounds of force to the part, or 1+1=1 • Ask for torque information when sizing a gripper • Friction Grip: Pick up the bowling ball with your hands completely flat like paddles. Jaw Factor = 4 • Encompassing Grip: Pick up the bowling ball with your fingers spread and “wrapped” around the ball. Jaw Factor = 1 • High velocity means nothing to grippers, but high acceleration and deceleration mean a lot. • Grip Force Required = Part Weight x (1+Part Gs) x Jaw Style factor14 pounds bowling ball,1.5 G acceleration from the robot, style of jaw

  8. Selecting a gripper • Two sources of torque: generated by gripper and by the acceleration and weight of the part • The longer the jaw the greater the torque the gripper imposes on itself. • Gripper torque = gripper force x Jaw length (where jaw length is measured from the face of the gripper to the center of gravity of the part) • 6” long jaws on a gripper with 100 lbs of closing gripper force, the jaws will see 600 in-lbs. We can see that the length of the jaws plays a major factor in specifying a gripper. • Part torque = G x part weight x jaw length Total Torque= Jaw length x Gripper force + Jaw length x Part weight x (Accl. + 1G if↑/↓)

  9. Example • 14 Pound Bowling • 2 G side acceleration • 60 PSI Air • Encompassing Grip • 7” length to CG 1) Grip Force Required = Part Weight x (1+Part Gs) x Jaw Style factor 2) Jaw Torque = Jaw Length x Grip Force 3) Part Torque= Jaw Length x Part weight x Acceleration 4) Total Torque = Jaw Torque + Part Torque 5) Specifications: ? Pounds of grip force, ? in-pounds of torque

  10. Application (Video) • http://www.youtube.com/watch?v=ulCFGIeKDrk&feature=player_embedded# • http://www.youtube.com/watch?v=Vf56ny0IEno&feature=player_embedded# • http://www.youtube.com/watch?v=Z08aLpU76GE&feature=player_embedded

  11. Summary Grippers are used widely in many industries. Grippers are usually custom designed. When looking for a gripper, know what you want it to do. Many modern grippers are sensor-integrated.

  12. List of vendors • SCHUNK Inc. • Zaytran Inc.  • IPR-Automation  • The Robotic Accessories Leader  • Schmalz, Inc.  • AGI Automation Equipment Components

  13. Reference • http://www.appliedrobotics.com/technical/tutorials.aspx • http://www.robotics.org • http://www.grippers.com/size.htm • http://www.machineryautomation.com.au/robotics/robotic-grippers.html

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