@book{c65d7132609444c4abc5702d199cf9e8,
title = "Adaptive, pneumatic gripper for assembly",
abstract = "The construction of an adaptive, pneumatic gripper is presented. The gripper can be used in the precision assembly of cylindrical parts of different sizes ({\o} 20 - 40 mm) into holes. This adaptive gripper can compensate for robot positioning errors during assembly, when there is insufficient general robot positioning accuracy (point-to-point +/-0.05 - +/-0.2 mm) for precise assembly. The results of dynamic and static tests performed on the adaptive gripper are presented. A cylindrical part can be assembled into a hole even when the diameter of the hole is only about 0.005 mm larger than the part. The part-to-bore eccentricity area of reliable work is about +/-3.2 mm in this gripper. The control-movement time is 0.5 - 1.0 seconds with an initial eccentricity of 1 mm.",
keywords = "grippers, pneumatic equipment, robots, assembling",
author = "Raimo Soudunsaari and Valeri Gradetsky and Valeri Veshnikov and Aleksander Abarinov",
year = "1988",
language = "English",
isbn = "951-38-3215-5",
series = "Valtion teknillinen tutkimuskeskus. Tiedotteita",
publisher = "VTT Technical Research Centre of Finland",
number = "885",
address = "Finland",
}