Supple grip for robot arm - uses two pincers faced with elastically deformable block and has magneto-resistive transducer to measure deformation

摘要

The supple grip provides compensation for minor misalignment created by the positioning errors of the workpiece and the robot arm. The grip has pincers having a jack of parallel displacement between an open and closed position, and having also a sensitive block which is fixed to the grip and is faced with an elastically deformable element and carries a device of measuring the elastic deformation. The deformation is detected by a magnetoresistive transducer placed between two facing ferrite permanent magnets. The transducer provides feedback data to a controller which regulates supply to hydraulic cylinders operating on the pincers.