by: aganon, ben joseph agudong, jayson umipig , christian hope
DESCRIPTION
Mechanical Grippers. By: Aganon, Ben Joseph Agudong, Jayson Umipig , Christian Hope. What are Grippers?. Grippers are end effectors used to grasp and manipulate objects. Just like a hand, a gripper enables holding, tightening, handling and releasing of an object. - PowerPoint PPT PresentationTRANSCRIPT
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By: Aganon, Ben Joseph
Agudong, JaysonUmipig , Christian Hope
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What are Grippers? Grippers are end effectors used to
grasp and manipulate objects. Just like a hand, a gripper enables
holding, tightening, handling and releasing of an object.
A gripper can be attached to a robot or it can be part of a fixed automation system
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History of Gripper The first gripper, or artificial hand,
was probably a hook replacing a lost human hand.
An artificial hand is first recorded in 1509---an iron hand made for a German knight.
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Unimate
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Rancho Arm
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Tentacle Arm
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Stanford Arm
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Silver Arm
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Types of Grippers Single mechanical devices-hooks and
scoops Mechanical grippers-two or more fingers
actuated by the robot controller Vacuum grippers-suction cups used to hold
flat objects Magnetized grippers -A type of end effector
that uses electromagnets or permanent magnets to pick up metallic objects.
Adhesive devices-adhesive substance used to hold flexible material
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Mechanical Gripper
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Vacuum Grippers
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Gripper Style
Angular: The gripper jaws are opened and closed around a central pivot point, moving in a sweeping or arcing motion. Angular grippers are often used when limited space is available or when the jaws need to move up and out of the way.
Parallel: The gripper jaws move in a parallel motion in relation to the gripper body. Used in a majority of applications, parallel grippers are typically more accurate than other style grippers.
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Gripper Style
angular Parallel
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Gripper Actuation Manual: Actuated by hand crank, wheel,
levers, or other manual or mechanical means.
Electric: Grippers fingers or jaws actuated by electric motor, solenoid, etc.
Pneumatic: Gripper is actuated by compressed air acting on a cylinder or vanes.
Hydraulic: Gripper is actuated by hydraulic fluid acting on a cylinder or vanes.
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Electric Gripper Motor gears
Jaw
Shaft
nut
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Pneumatic Gripper
High PressurePiston
Jaws
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Hydraulic Gripper
door
chamber O-ring
jaws
spring
pin
piston
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Advantages and DisadvantagesPneumatic Electric
MotorHydraulic
Smaller units, quick assembly
High accuracy and repeatability
High strength and high speed
High cycle rate Less floor space Large robots, Takes floor space
– Easy maintenance Low cost Mechanical Simplicity
Easy maintenance Used usually for heavy payloads
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Application of Grippers Machine loading/unloading Assembly lines Material transfer Manufacturing processes
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Machine loading/unloading
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Assembly lines
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Material transfer
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Application of Grippers Specific examples
Workers in nuclear science use grippers to move things remotely when the things dealt with are dangerous for body health.
Astronauts can manipulate remote-controlled grippers in space from within the safety of the spacecraft when they are building the space station.