4 Adaptive gripper: form-fitting and gentle gripping thanks to the structure with Fin Ray Effect® Radial gripper HGR-16-A Gripping finger DHDG-W-80 CPX terminal The handling unit in the working area The kinematic rod pyramid is fixed vertically to the work surface. A reinforcement brace in the upper third, adjacent to the rotating/ gripping unit, gives the pyramid additional stability and connects the four H-shaped spring steel elements with the six ball joints. This prevents the entire system from vibrating at high speeds and under high loads. The DSM 6 swivel module from Festo is attached to the receiving plate as a rotating unit at the end of the pyramid of rods. On each flange, the HGR-16-A radial gripper is fitted with two DHDG-W-80 adaptively gripping fingers, with which Bionic Tripod 3.0 can adaptively grasp variously shaped objects such as test tubes or light bulbs, and apples or onions. The gripping fingers have a structure modelled on the tail fin of a fish. Hybrid control and regulation The six 5/2-way valves are controlled and regulated by the CPX/MPA valve terminals with an integrated CPX-CEC-C1 CoDeSys front end controller. Four 5/2-way valves move the four standard cylinders, one of the pivot modules and one of the grippers. The two EGC electric linear axes are also controlled and regulated by the valve terminal: pneumatics, electrics and motion control – all functionally integrated into the CPX/MPA solution package.
RkJQdWJsaXNoZXIy NzczNDE0