Profibus Interface Based Connection and Actuation of the Servo-Electric and Pneumatic 2-Finger Parallel Gripper by Using of the Quick Release Gripper-Change-System Realized for the Fanuc Robot

摘要

The paper gives an example of the technical solutionfor the connection of the two different types of the 2 -fingerparallel gripper regarding their driving power, both used in oneapplication process. The grippers used in the application are aservo-electric 2-finger parallel gripper with highly precisegripping force control and long stroke and a universal pneumatic2-finger parallel gripper with large gripping force and highmaximum moments. Both grippers used are connected via quickrelease Gripper-Change-System (GCS) and are controlled viacontrol panel with integrated Profibus-DP master unit. The end-effector is mounted to the GCS typically by using an interfaceplate designed by the user. The realization of the application isspecifically designed for the Fanuc robot ARC Mate 120iB andthe controller R-J3iB and represents the unique technicalsolution, not designed with the named parts and control unit insuch way before.