4 Child’s play: easy operation Soft and adaptive gripping: the two-finger version of the DHDG gripper Precise onboard pressure control: piezo valve technology from Festo Freedom of movement and form-fitting grip The nine bellows elements can be specifically charged and discharged by means of compressed air, so that the structure can be displaced and bent in any desired direction. The gripper arm is precisely aligned by a pneumatic 90° rotary actuator. The gripper fingers are also designed on the basis of a biological model. Adaptive gripping of various shapes and contours and of delicate objects is made possible by the structure incorporating the Fin Ray Effect®. Proportionally charging the individual chambers with compressed air gives rise to a powerful movement with adjustable stiffness. Cable potentiometers register the deformation of the light but sturdy structure, and the control system processes the signals accordingly. A joystick is the interface to the human operator The operator uses a joystick to control Robotino®and steer the movements of its gripper arm. The control board detects the input signals and conveys the appropriate desired values to the valve terminal via a CAN bus. Mobile self-sufficiency The latest piezo proportional valve terminal, which includes its own integrated pressure regulators, precisely meters the pressurised air in the chambers of the gripper arm. The air is compressed by two small membrane pumps, which attain a pressure of 2.5 to 2.7 bar in an integrated pressure accumulator. Two 24-volt batteries supply the valve terminal, pumps, open-loop control and drive units. The operating time available following a complete charging cycle amounts to about two to three hours.
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