4 research outputs found
Lightweight High-Speed and High-Force Gripper for Assembly
This paper presents a novel industrial robotic gripper with a high grasping
speed (maximum: 1396 mm/s), high tip force (maximum: 80 N) for grasping, large
motion range, and lightweight design (0.3 kg). To realize these features, the
high-speed section of the quick-return mechanism and load-sensitive
continuously variable transmission mechanism are installed in the gripper. The
gripper is also equipped with a self-centering function. The high grasping
speed and self-centering function improve the cycle time in robotic operations.
In addition, the high tip force is advantageous for stably grasping and
assembling heavy objects. Moreover, the design of the gripper reduce the
gripper's proportion of the manipulator's payload, thus increasing the weight
of the object that can be grasped. The gripper performance was validated
through kinematic and static analyses as well as experimental evaluations. This
paper also presents the analysis of the self-centering function of the
developed gripper