High-speed gripper with position-alignment functionality based on quick-return mechanism

Abstract

This paper details a novel gripper that enables high-speed grasping with part-alignment functionality to efficiently perform assembly operations. High-speed operation (600 mm/s) is achieved by utilizing the high-speed portion of the quick return mechanism (in a motor with a low speed of 77 rpm). The size of the gripper is compact at 76 mm wide and 72 mm tall. This compactness fa-cilitates obstacle avoidance when operating a manipulator with the proposed gripper. The weight of the gripper is minimal at 0.2 kg, making it compatible with a manipulator with a small payload. We experimentally verify the effective position alignment range and devise a grasp strategy to extend it. Experimental validation is conducted with the operations of an assembly competition, and the efficacies of the gripper and grasp strategy are demonstrated.