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Optimum design of gripper jaws for tapered components

Published online by Cambridge University Press:  09 March 2009

D.T. Pham  and
M.J. Nategh
D.T. Pham
Affiliation:
Intelligent Systems Research Group, School of Electrical, Electronic and Systems Engineering, University of Wales, Cardiff (U.K.).
M.J. Nategh
Affiliation:
Plan and Program Department, Ministry of Heavy Industries, Tehran (Iran).
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Summary

For ease of manufacture, axisymmetric components produced by processes such as forging, casting and moulding are often designed with a taper angle. This paper presents a family of devices for handling such components by their tapered portion. The devices are essentially finger tips, or jaws, to be fitted to standard scissor-type robot grippers. The jaws possess a three-dimensional profile constructed as a stack of v-shaped planar curves. The special jaw profile enables components of different diameters and taper angles to be gripped concentrically without calling for complex movements to reposition the gripper. The equations describing two categories of profile are derived and the optimum selection of profile parameters to yield compact jaws to grip components of a wide range of dimensions is discussed in the paper.

Keywords

GripperEnd effectorToolingJaw profilesTapered componentsDesign
Type
Article
Information
Robotica , Volume 8 , Issue 3 , July 1990 , pp. 223 - 230
Copyright
Copyright © Cambridge University Press 1990

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References

REFERENCES

1.Pham, D.T. and Ruskin, L.S., “The Design and Development of Versatile Grippers for Industrial Robots” Proceedings of IEE Seminar on UK Robotics Research, London, December, 1983, IEE Digest No 1983/104 1983) pp. 41–44.Google Scholar
2.Pham, D.T. and Yeo, S.H. “CAD-CAM of Jaws for Robot Grippers” Proc. 25th Int. Machine Tool Design and Research Conference,Birmingham (04, 1985) pp. 201–211.CrossRefGoogle Scholar
3.Pham, D.T. and Yeo, S.H., “Concentric Gripping of Cylindrical Workpieces Using Quasi-Parallel Grippers” In Robot Grippers (Pham, D.T. and Heginbotham, W.B., Eds.) (IFS Bedford, and Springer-Verlag Berlin) pp. 229–264.Google Scholar
4.Pham, D.T. and Nategh, M.J., “CAD of Devices for Gripping Tapered Components” Int. J. Adv. Manufacturing Technology 4, No. 4 (11 1989) (In Press).CrossRefGoogle Scholar