| Two finger grippers simulate the motions of a thumb and index finger for reaching into channels, grasping parts with closely spaced components or picking and placing any object with simple geometry. Three finger models duplicate the motions of the thumb, index finger and a third finger for grasping bodies of revolution and objects of spherical or cylindrical shape. Four finger grippers provide a means for grasping square or rectangular parts. One pair of opposing fingers is wide for angular orientation of parts as the combination of four fingers close to position the centroid. Two, three and four finger grippers have the self centering feature of universal two, three and four jaw chucks. Pneumatic grippers using double acting pistons are able to grip internally and externally with pinch force proportional to operating pressure. Operating pressure can be reduced for handling delicate parts. Further, pinch force is essentially constant in the range of travel, which allows the gripper to grasp objects of different size with uniform pinch force. |
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