Precisely controllable gripper assembly for low force applications

摘要

The gripper assembly includes a base, a guide situated on the base, and first and second jaws members. First and second ball bearing slides are associated with the jaw members for mounting the jaw members for movement along a guide track between proximate and remote positions. First and second low friction pneumatic actuators are provided. A mechanical linkage connects the actuators to at least one of the jaw members. A pulley and wire rope assembly connects the first and second jaw members for simultaneous movement in opposite directions. Valves are provided for actuating one actuator at a time. Actuation of the first actuator causes simultaneous movement of the jaw members in one direction. Actuation of the second actuator causes simultaneous movement of the jaw members in opposite directions.

主权项

1. A gripper assembly for clamping a workpiece comprising a base, a guide situated on said base, first and second jaws members mounted for movement along said guide between proximate and remote positions, first and second pneumatic actuators, means for connecting said first and second actuators to at least one of said first and second jaw members, means for connecting said first and second jaw members for simultaneous movement in opposite directions, and means for independently actuating each of said first and second actuators such that actuation of said first actuator causes simultaneous movement of said jaw members in one direction and the actuation of said second actuator causes simultaneous movement of said jaw members in opposite directions, wherein each of said first and second actuators is very low friction, pneumatically driven actuator and wherein at least one of said actuators includes a cylinder with an interior glass surface and a piston, in which air under pressure surrounds said piston and functions as a partial air bearing.