PG1 - Pneumatic Bellow-Based Gripper
Description
The PG1 compliant gripper is a special type of robot end-effector. It was developed to pick up and insert odd electronic components that are presented either misaligned or misoriented. It consist of three modules:
- End-Gripper opens to hold, and closes to release the work-piece using a pair of custom-made work-piece jaws that fit manually into the gripper.
- End-Cap opens to accommodate, and closes to affix, the work-piece misalignment and misorientation.
- Air-Cushion Damper is either active or passive to provide a damping effect.
The operation sequence of the PG1 for a pick-up and insertion task is as follows:
- The robot carrying the gripper approaches the work-piece.
- The End-Gripper and End-Cap are in open positions.
- If the work-piece is misaligned and/or misoriented, the End-Cap adjusts itself to the work-piece.
- The End-Gripper closes to grasp the work-piece.
- The End-Cap closes to affix the work-piece in the gripper.
- The robot moves to the desired position to perform the insertion.