Documente Academic
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Documente Cultură
By Pragnay Choksi
INTRODUCTION
Hands of robots referred to as Grippers
TYPES OF GRIPPERS
6 different types described here
The Clapper Two-Pincher Gripper
Basic Model Advanced Model Number 1 Advanced Model Number 2
The Clapper
Can be built using
Metal Plastic Wood
The Clapper
Parts List 2 2 1 1 8 1.5 x 2.5 x (1/16) thick acrylic plastic sheet 1 x (3/8) corner angle bracket 1.5 x 1 brass aluminum hinge Small 6-vdc or 12-vdc spring-loaded solenoid x (6/32) stove bolts, nuts
The Clapper
Consists of a wrist joint (assume permanently attached to forearm of robot) Connected to the writ are 2 plastic plates
Bottom plate is secured to the wrist Top plate is hinged
The Clapper
Choice of solenoid is important
Must fit between the 2 flaps Must have a flat bottom to facilitate mounting Must operate within the voltage used in your robot (usually 6V or 12 V) If solenoid doesnt have mounting flanges opposite the plunger, mount it in the center of the bottom flap using household cement
Two-Pincher Gripper
Two movable fingers Three types:
Basic Advance model # 1 Advance model # 2
Basic Model:
Made from extra Erector Set (similar construction kits may be used)
Fashion a 1.5 length of diameter dowel to fit into the rectangular arm
Place the cable through the hole then push the dowel at least into the arm Drill 2 small mounting holes to keep the dowel in place
Use (6/32) x bolts and nuts to secure it
Operate the motor in one direction the fingers open the motor spins in the opposite direction, the fingers close
You can approximate the compliant grip by making articulated fingers for your robot At least one toy id available that uses this technique
Opposing thumb is not articulated, but you can make a thumb that moves in a compliant griper of your own design
Wrist Rotation
Human hand has three degrees of freedom:
Twist on the forearm Rock up and down Rock side to side
Can add all or some of these degrees of freedom to the robotic hand
Wrist Rotation
Most arm designs just want to rotate the gripper at the wrist
Usually preformed by a motor attached at the end of the arm or at the base A cable or chain joins the motor shaft to the wrist
The gripper motor shaft are outfitted with mating spur gears
Can also use chains or timing belts to link the gripper to the drive motor
Wrist Rotation
You can also use a worm gear on the motor shaft Another approach is to use a rotary solenoid
Have a plate that turns 30 to 50 degrees in one direction when the power is applied It return to its normal position when the power is removed
Mount the solenoid on the arm and attach the plate to the wrist of the gripper