4 Centric grip: shown by the model that is nature … … and the technical application with three adaptive gripping fingers Easy changeover: the mechanical changeover between parallel (left) and centric grip direction (right) removes the need to convert the gripper. Quick change without conversion A simple redirection is used as a kinematic technique for changing the direction of grip. A pull-push bar transfers the force to the holders located on the two finger elements, which in turn can be rotated. These holders change the finger position accordingly: either all the fingers are directed towards a central point, or alternatively two of the fingers are arranged next to each other whilst the third finger takes on the function of the opposable thumb to enable a parallel grip. By means of a mechanical locking system, which is pneumatically operated, the finger elements are fixed in their respective final positions. Movement with pneumatics The MultiChoiceGripper is attached to an articulated robot. The robot arm supplies the gripper with three compressed air lines. These provide the compressed air needed to change the grip direction, to move the finger elements and to lock the gripping finger slots. The connection panel between gripper and robot arm acts both as a support system for the compressed air lines and a distributor, which supplies the gripper and fingers with compressed air. Universal finger elements with integrated drive The built-in cylinders, which are used for changing the grip direction and locking the finger elements, are located in the gripper’s base element. Each element also features an integrated pneumatic microcylinder, which moves the finger joint. Each finger element therefore has its own drive system and can also be operated independently of the gripper’s base body using compressed air. This means that the fingers could now also be fitted to other base bodies. Easy finger changeover with no need for tools The number of finger elements on the gripper can vary between two and six. Thanks to the holder’s T-groove shape, they are easily replaceable. No tools are required to do this – pulling them out or attaching them is sufficient. In this respect, both adaptive, flexible finger elements and a fixed version are available. Parallel grip – View from above Under the cover: Slots for three more finger elements (T-groove holder) Rotatable slots Compressed-air supply between base body and finger element Universal finger element with adaptive fingertip Centric grip – View from above Front view Front view Base body
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