The article presents the design and analysis of the functional properties of a force-controlled gripper with jaw position positioning and grip force regulation. A 4-jaw gripper design with a spatial structure was developed for a FANUC industrial robot.Subsequently, a control system for jaw force, position, and movement speed was developed. Based on the prototype, tests and analysis of the functional and operational properties of the gripper were conducted. The research demonstrated the validity of the design assumptions, which significantly increased the device’s versatility. The experience gained is also relevant for grippers with more complex structures inspired by solutions found in living organisms. For economic reasons, production processes require increasing flexibility in manufacturing stations while maintaining high quality and low production costs. (…)
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Source: Logistyka Magazine