3 Metal laser sintering process: generative production of diverse components Unique form-finding with generative manufacturing The lightweight structures on the interior and exterior of the PowerGripper are designed in accordance with the forces acting on the component and can only be produced in this form by means of the metal laser sintering process, in which the metallic powder is melted, layer by layer, by means of a laser beam controlled by 3D CAD data. This provides unique opportunities in form-finding and allows individualised 3D printing of complex products. Mechanical kinematics of the Watt’s linkage The mechanical components of the PowerGripper comprise a basic element, two finger elements, a push and traction rod and a deflection triangle; these constitute the kinematic elements of the Watt’s linkage. On the underside of the basic element, two holes are provided for mounting the gripper – for example to a robot. Mounted on the top are three axis mounts for the finger elements and the deflection triangle, along with the recesses that ensure freedom of movement for the opening of the fingers and for deflection of the triangle. The three axis mounts also form an imaginary triangle as the fixed points of the Watt’s linkage. Reduced tare weight and maximum opening stroke The PowerGripper is 200 mm high, 123 mm wide and 39 mm deep. Its maximum opening stroke is 56 mm. The use of the titanium alloy for the mechanical components has enabled the developers to achieve a tare weight of only 482 g. Flexible choice of gripper fingers for versatile application The two finger elements are provided with a standard T-slot for the multi-purpose accommodation of various different fingers; they thus permit a wide range of practical applications for gripping light to medium-heavy objects. Impetus for new gripper concepts As a research project, the PowerGripper from Festo demonstrates a great number of opportunities for the development of new gripper systems. Thanks to the lightweight and yet highly stable superstructure of the gripper, the entire system could also be produced in lightweight design; this in turn makes for more energy-efficient operation. To date, this had been difficult to achieve in conventional grippers in view of their less favourable ratio of gripping force to tare weight. Moreover, with a conventional gripper the wide opening and closing stroke can only be achieved with a larger overall design. The consumption of compressed air is substantially lower than with a conventional gripper, in view of the use of muscle drive in connection with the highly efficient kinematics. Thanks to the wide opening stroke, components of different sizes can be handled using one and the same gripper. In addition, a variety of different gripper jaws can be mounted to the interface provided for this purpose; differently shaped workpieces from various areas can thus be handled. Lightweight structure with optimised force flow: reduced tare weight and material savings with the laser-melting process
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