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Gripper Designs

By Pragnay Choksi

INTRODUCTION
Hands of robots referred to as Grippers

No single design is ideal for all applications

TYPES OF GRIPPERS
6 different types described here
The Clapper Two-Pincher Gripper
Basic Model Advanced Model Number 1 Advanced Model Number 2

Flexible Finger Grippers Wrist Rotation

The Clapper
Can be built using
Metal Plastic Wood

This section describes a metal and plastic clapper

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

Small spring-loaded solenoid is positioned between the two plates


When solenoid is active, gripper is closed When solenoid is not active, gripper is open

The Clapper (construction)


Cut both acrylic plastic to 1.5 x 2.33 pieces Attach the lower flap to both corner brackets
Place bracket ~ (1/8) from either side of the flap Secure the pieces using (6/32) bolts

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)

Two-Pincher Gripper Basic Model (parts)


2 1 4 Mics. 4.5 Erector Set grinder 3.5 length Erector Set grinder x (6/32) stove bolts, fender washer, tooth lock washer, nuts to 16 gauge insulated wire ring lugs, aircraft cable, rubber tabs, x corner angle brackets

Two-Pincher Gripper (Basic Model) construction


Connect the 4.5 grinders and the 3.5 grinder using (6/32) x bolts and nuts to make two pivoting joints
Shown on page 407

Cut two 3 lengths and mount them


Sand off the ends at an angle to prevent them from touching

Cut through two or three holes on one end to make a slot

Two-Pincher Gripper (Basic Model) construction


(6/32) x bolts and nuts to make pivoting joints in the fingers You can actuate it in a number of ways
Mount a small eyelet between the two pivot joints on the angle grinder. Thread two small cables through the eyelet and attach the cable Connect to other end of the cables to a solenoid or a motor shaft

Two-Pincher Gripper (Advanced Model 1)


Use a readily available plastic toy and convert it into a useful two-pincher gripper for your robot arm Toy is a plastic extension arm Inexpensive contraption
Usually under $10.00 Available at many toy stores

Two-Pincher Gripper (Advanced Model 1) construction


Chop off the gripper three inches below the wrist Cut through the aluminum cable Cut another 1.5 of tubing
Just the arm not the cable

Fashion a 1.5 length of diameter dowel to fit into the rectangular arm

Two-Pincher Gripper (Advanced Model 1) construction


Drill a hole in the dowel for the cable to go through
Cable maybe of center, compensate for that

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

Two-Pincher Gripper (Advanced Model 1) construction


Use the dowel to mount the gripper on an arm assembly Flatten one end of the dowel and attach it directly to the arm Gripper opens with only (7/16) pull Attach one end of the cable to a 1/8 round aircraft cable Crimp-on connector designed for 14 to 16 gauge electrical wire to connect them end to end

Two-Pincher Gripper (Advanced Model 1) construction


Attach the aircraft cable to a motor or rotary solenoid shaft Activate the motor or solenoid to pull the gripper closed Spring built into the toy arm opens the gripper when power is turned off

Two-Pincher Gripper (Advanced Model 2)


Uses a novel worm gear approach
Without requiring a hard-to-find worm gear

Worm is a length of 20 bolt


Gears are standard 1 diameter 64-pitch aluminum spur gears
Hobby stores have these for about $1 a piece

Turning the bolt opens or closes the fingers of the grippers

Two-Pincher Gripper (Advanced Model 2) Parts


2 2 1 1 1 2 2 1
3 lengths (41/64) x x (1/16) aluminum channel 1 diameter 64-pitch plastic or aluminum spur gear 2 flat mending T 1.5 x corner angle iron 3.5 x 20 stove bolts 20 locking nuts, nuts, washers, tooth lock washers x (8/32) stove bolts, nuts, washers 1 diameter 48 pitch spur gear

Two-Pincher Gripper (Advanced Model 2) construction


Cutting two 3 aluminum channel stock Use the 3 flat mending T plates as the base Attach the fingers and gears to T plates as shown on page 410
The distance of the holes is critical
It depends entirely on the diameter of the gears you use

Two-Pincher Gripper (Advanced Model 2) construction


Secure the shaft using a 1.5 x corner angle bracket Mount it to the stem of the T using (8/32) x 1 bolt and nut Add # 10 washer between the T and the bracket to increase the height of the bolt shaft Mount a 3.5 long 20 machine bolt through the bracket

Two-Pincher Gripper (Advanced Model 2) construction


Use double nuts or locking nuts to form a free spinning shaft Reduce the play as much as possible without locking the bolt to the bracket Align the finger gears to the bolt so they open and close at the same angle

Two-Pincher Gripper (Advanced Model 2) construction


To actuate the fingers
Attach a motor to the base of the bolt shaft The prototype gripper used a diameter 48pitch spur gear a matching 1 48-pitch spur gear on the drive motor

Operate the motor in one direction the fingers open the motor spins in the opposite direction, the fingers close

Flexible Finger Grippers


Clapper and two-pincher grippers are not like human fingers They lack a compliant grip
The capacity to contour the grasp to match the object

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

Flexible Finger Grippers


Use the same method as for the two-pincher gripper

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

EXPERIMENT WITH GRIPPER DESIGNS

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