Adaptive, Pneumatic Gripper for Assembly

摘要

The construction of an adaptive, pneumatic gripper is presented. The gripper can be used in the precision assembly of cylindrical parts of different sizes (20 - 40 mm) into holes. The adaptive gripper can compensate for robot positioning errors during assembly, when there is insufficient general robot positioning accuracy (point-to-point (+ or - 0.05) - (+ or - 0.2) mm) for precise assembly. The results of dynamic and static tests performed on the adaptive gripper are presented. A cylindrical part can be assembled into a hole even when the diameter of the hole is only about 0.005 mm larger than the part. The part-to-bore eccentricity area of reliable work is about + or - 3.2 mm in the gripper. The control-movement time is 0.5 - 1.0 seconds with an initial eccentricity of 1 mm.