The proposed pneumatic gripper is superior in the sense that it can perform pulling-up after grasping the object and opening the fingers after pushing-out the object. To solve these drawbacks, a new pneumatic gripper by combining three valves, a speed control valve, a relief valve, and non-return valves, is proposed. In addition, the closing speed and the picking-up speed of the fingers are slow due to the high reduction gear. However, the object tends to fall when placing because it opens the finger before pushing out the object during the reversed movement. The motor-driven gripper with planetary gear reducers can pull-up the object after grasping. Each pulling-in mechanism in the former one and the latter one is achieved by a belt-driven finger surface and a linear slider with an air cylinder, respectively. To demonstrate this principle, we have developed two kinds of gripper by different driving systems: one is driven by a DC motor with planetary gear reducers and another is driven by pneumatic actuators with branch tubes as a differential. These two movements are generated by only a single actuator while two independent actuators are used in conventional grippers. This paper proposes an underactuated grippers mechanism that grasps and pulls in different types of objects.
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