Disain Gripper

Tipe Grippers

  1. Single mechanical devices-hooks and scoops
  2. Mechanical grippers-two or more fingers actuated by the robot controller
  3. Vacuum grippers-suction cups used to hold flat objects
  4. Magnetized grippers -A type of end effector that uses electromagnets or permanent magnets to pick up metallic objects.
  5. Adhesive devices-adhesive substance used to hold flexible material

Perbandingan beberapa jenis gripper

gripper_1

 

Vacuum Grippers

gripper_2

 

Pneumatic Gripper

1.Berdasarkan Gripper Action:

gripper_action

2.Berdasarkan Tipe Pneumatic Gripper yang Digunakan:

gripper_parallel

gripper_angular

 

3.Berdasarkan Jaw Configuration:

gripper_jaw

Referensi lain menyatakan bahwa secara garis besar mekanika dari sebuah gripper bisa diklasifikasikan sebagai berikut.

1.Mechanical Finger Grippers

a.Linkage Grippers

gripper1.TIF

 

b.Gear and Rack Grippers

gripper2.TIF

 

c.Cam-actuated Grippers

gripper3.TIF

 

d.Screw-driven Grippers

gripper4.TIF

 

e.Rope & Pulley Grippers

gripper5.TIF

 

2.Vacuum & Magnetic Grippers

a.Vacuum Grippers

gripper6.TIF

 

b.Magnetic Gripper

gripper7.TIF

 

3.Versatile or universal Grippers

a.Inflatable grippers used for picking up irregular and fragile objects without concentrated loading. In the initial position before gripping, the lever 1, are opened up, the bellows are in a compressed condition because the gas pressure in the bags,3, with the spheres is close, even a slight pressure of the object on a bag is sufficient enough to cause the bag wall to be deeply depressed and surround the object. When the degree of the surrounding is adequate the lever motion ceases, and pressure in the bags is reduced by bellows, diaphragm device pr vacuum pump, causing bags to harden without changing shape and hence gripping the object. To release the object operation is done in reverse.

gripper8.TIF

 

b.Soft Grippers

gripper9b.TIF

 

c.Three Fingered Grippers

gripper10.TIF

 

Beberapa acuan desain gripper:

6_011 6_010 6_009 6_008 6_007 6_006 6_005 6_005 6_004 6_002 6_002 6_003 6_003 6_004 6 6

Tambahan link katalog produk gripper:

directindustry.com/prod/fabco-air/2-jaw-angular-grippers-11741-443594.html#product-item_1303373

___________________________________________

Daftar Pustaka

grippers.com/size.htm

curriculum.vexrobotics.com/curriculum/object-manipulation/manipulators

directindustry.com/prod/fabco-air/2-jaw-angular-grippers-11741-443594.html#product-item_1303373

omega.com/prodinfo/grippers.html

sra.vjti.info/knowledgebase/posts-on-a-roll-1/gripper-mechanisms

stab-iitb.org/resources/images/d/de/Ww-gripper.pdf

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