Adaptive, pneumatic gripper for assembly

Raimo Soudunsaari, Valeri Gradetsky, Valeri Veshnikov, Aleksander Abarinov

Research output: Book/ReportReport


The construction of an adaptive, pneumatic gripper is presented. The gripper can be used in the precision assembly of cylindrical parts of different sizes (ø 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.
Original languageEnglish
Place of PublicationEspoo
PublisherVTT Technical Research Centre of Finland
Number of pages24
ISBN (Print)951-38-3215-5
Publication statusPublished - 1988
MoE publication typeNot Eligible

Publication series

SeriesValtion teknillinen tutkimuskeskus. Tiedotteita


  • grippers
  • pneumatic equipment
  • robots
  • assembling


Dive into the research topics of 'Adaptive, pneumatic gripper for assembly'. Together they form a unique fingerprint.

Cite this