Adaptive, pneumatic gripper for assembly

Raimo Soudunsaari, Valeri Gradetsky, Valeri Veshnikov, Aleksander Abarinov

Research output: Book/ReportReport

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 (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
Number885
ISSN0358-5085

Fingerprint

Grippers
Pneumatics
Robots

Keywords

  • grippers
  • pneumatic equipment
  • robots
  • assembling

Cite this

Soudunsaari, R., Gradetsky, V., Veshnikov, V., & Abarinov, A. (1988). Adaptive, pneumatic gripper for assembly. Espoo: VTT Technical Research Centre of Finland. Valtion teknillinen tutkimuskeskus. Tiedotteita, No. 885
Soudunsaari, Raimo ; Gradetsky, Valeri ; Veshnikov, Valeri ; Abarinov, Aleksander. / Adaptive, pneumatic gripper for assembly. Espoo : VTT Technical Research Centre of Finland, 1988. 24 p. (Valtion teknillinen tutkimuskeskus. Tiedotteita; No. 885).
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Soudunsaari, R, Gradetsky, V, Veshnikov, V & Abarinov, A 1988, Adaptive, pneumatic gripper for assembly. Valtion teknillinen tutkimuskeskus. Tiedotteita, no. 885, VTT Technical Research Centre of Finland, Espoo.

Adaptive, pneumatic gripper for assembly. / Soudunsaari, Raimo; Gradetsky, Valeri; Veshnikov, Valeri; Abarinov, Aleksander.

Espoo : VTT Technical Research Centre of Finland, 1988. 24 p. (Valtion teknillinen tutkimuskeskus. Tiedotteita; No. 885).

Research output: Book/ReportReport

TY - BOOK

T1 - Adaptive, pneumatic gripper for assembly

AU - Soudunsaari, Raimo

AU - Gradetsky, Valeri

AU - Veshnikov, Valeri

AU - Abarinov, Aleksander

PY - 1988

Y1 - 1988

N2 - 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.

AB - 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.

KW - grippers

KW - pneumatic equipment

KW - robots

KW - assembling

M3 - Report

SN - 951-38-3215-5

T3 - Valtion teknillinen tutkimuskeskus. Tiedotteita

BT - Adaptive, pneumatic gripper for assembly

PB - VTT Technical Research Centre of Finland

CY - Espoo

ER -

Soudunsaari R, Gradetsky V, Veshnikov V, Abarinov A. Adaptive, pneumatic gripper for assembly. Espoo: VTT Technical Research Centre of Finland, 1988. 24 p. (Valtion teknillinen tutkimuskeskus. Tiedotteita; No. 885).