Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 6 ppsx

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As shown in table 3.16 a spherical workpiece is clamped between two prismatic jaws with the opening angle α The gripping force is calculated with the appropriate formule In the first case we need

to consider the fact that weight acts against acceleration The latter and the resulting adhesive friction must be completely assimilated

by force-fit gripping, which requires higher gripping force than in the other examples Form-fit gripping in the direction of accelera-tion and of gravity is provided in the second example The gripper must counteract the force which stretches the gripper fingers caused by acceleration The third example just requires half as much gripping force because the latter can be equally distributed

to both gripper jaws This type of handling is especially kind on the gripper and the workpiece as forces can be kept low

Kinematics or drives for grippers

Gripper fingers need to be set in motion to build up gripping forces

on the workpiece Grippers can be categorized by their principles of drive Our overview shows that mechanical grippers constitute the main representatives of gripping technology Suction grippers, i e

grippers with one or more switch-on/switch-off contact surfaces, are being widely used for industrial applications Magnetic grippers, adhesive grippers, mold grippers, and needle grippers are still exep-tions to the rule

Mechanical gripper kinematics must transfer movement of drive into movement of gripper fingers, e g rotary drive movements have to be transferred into linear gripper finger movements

This type of kinematics includes all drive, transmission, and guid-ing elements which are necessary to realize the movement of the drive The kinematic scheme shows most gripper drives in use, categorized by their input or output movement The input move-ment is contrasted to the output movemove-ment for rotary and linear movements respectively

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by force-fit gripping, which requires higher gripping force than in the other examples Form-fit gripping in the direction of accelera-tion and of gravity is provided in the second example The gripper... transferred into linear gripper finger movements

This type of kinematics includes all drive, transmission, and guid-ing elements which are necessary to realize the movement of the drive The kinematic... gripping forces

on the workpiece Grippers can be categorized by their principles of drive Our overview shows that mechanical grippers constitute the main representatives of gripping technology