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

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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... examples Form-fit gripping in the direction of acceleration 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... 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... grippers, adhesive grippers, mold grippers, and needle grippers are still exeptions 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 guiding elements which are necessary to realize the movement of. .. kinematics includes all drive, transmission, and guiding 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 movement is contrasted to the output movement for rotary and linear movements respectively 113 . 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. 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