GRIPPERS AND RELATED SYSTEMS AND METHODS PROVIDING A CERTAIN DEGREE OF PLAY ALONG THE VERTICAL AXIS

摘要

A gripper structured to grip an object (114) that comprises at least two opposing side surfaces and at least one top surface, the gripper comprising: at least one passive movement mechanism (108) structured to at least passively move along a z-axis to provide a certain degree of lost motion or play, at least two arms (104) operably connected to the passive movement mechanism and structured to move towards, and away from each other along an x-and/or y-axis, wherein each arm comprises at least a first contact component (pointed plungers 116) that is structured to contact one of the side surfaces of the object when the arms are moved towards one another; at least one stop (112) operably connected to the passive movement mechanism and/or to at least one of the arms, wherein the stop comprises at least a second contact component (120) that is structured to contact the top surface of the object when the gripper is moved towards the object; and, at least one resilient coupling (flat spring 124) that couples at least one of the first and second contact components to the arms and/or the stop.