Servo robot gripper

摘要

A light weight servo controlled robot gripper is disclosed. A plastic body houses one or more threaded drive shafts which are powered by a direct current motor. Attached to the shafts are finger mounting blocks which support removable fingers and which can be driven both closer to and further away from a fixed point by the motor. Integral with at least one mounting block is a force transducer which monitors the load exerted on the finger through a pivot and lever action of a mounting bracket provided adjacent to the load cell. Since the transducer is in the block rather than the fingertip, fingers are readily interchangable without reinstrumentation. A limit switch, located above one of the finger mounting blocks, is used to determine coarse finger position, and an optical shaft encoder provides precise position information allowing the gripper to be utilized for a variety of position as well as force servoing tasks.