Consideration in Gripper Design

(Engelberger’s Design Consideration for

Gripper)
Consideration in Gripper Design
1. Part surface to be grasped must be reachable
a) For e.g. Part surface must not be enclosed within a chuck or other holding fixtures

2. Size variation of the parts must be considered.

3. Effect of variation in size of parts on the accuracy of locating parts should

be considered.
a) For e.g. Problem in placing rough casting or forging into a chuck for machining operation.
Consideration in Gripper Design
3. Gripper design should consider changes in the size of part that
occurs between part loading and part unloading.
a) For e.g. Part Size is reduced in machining and forging operation.

4.Consideration should be given to the potential problem of scratching

and distorting the part during gripping.
a) For e.g. Part which is fragile or has delicate surface will be subjected to
scratches or distortion during gripping.
Consideration in Gripper Design
5. If there is a choice between two different dimensions on a part,
larger dimensions should be selected for grasping.
◦ Larger surface contact will provide better control and stability of part while its
positioning.

6. Gripper fingers should be designed to conform to the part shape by

using resilient pads or self aligning fingers.
◦ Self aligning fingers provide better part control and physical stability.
Consideration in Gripper Design
7. Gripping force should be determined on the basis of following :
◦ a. Overall weight of object

◦ b. Speed and acceleration with which robot arm moves

◦ c. Method of constriction either physical or by friction.

◦ d. Coefficient of friction between object and gripper fingers.

General Design Practices
Minimize weight- (higher weight affects robot performance)
◦ – Material selection

◦ – Lightening holes

Minimize size
◦ – Helps minimize weight

◦ – Reduce cantilever load and moment of inertia

General Design Practices
• Maximize rigidity
◦ – Improves positional accuracy and repeatability

◦ – Reduce vibrations

• Maximize holding force

– Reliably hold part (without damage)

– Orient part to maximize force in direction of motion

General Design Practices
• Maintenance and Serviceability
◦ – Maintenance Cost
◦ – Ease in Servicing
• Initial Cost
• Flexibility
• Changeover
• Safety (lost of power, collision)
Characteristics/ Requirements of
Gripper
• Capable of grasping , lifting and releasing the parts required by the process.
• Containment of part must be assured under loss of power and maximum velocity.
• Sense the presence of the part with their gripping action.
• Collision sensor to safeguard gripper
• Less weight
• Simple in design
• Accurate in operation
• Economical
• Free of maintenance etc.