Manipulator grippers are used to gr

Manipulator grippers are used to grab and aspirate workpieces, one of the key components of modern industrial manipulators. When gripping a workpiece, the gripper must be fast, flexible and precise, and the clamping force cannot be too large or too small, so at the moment the size, shape, size and other of the workpiece You need to calculate the required strength according to the factors of. At the same time, in order to match the size of the workpiece to be gripped, the size of the jig opening is also taken into consideration and the robot application range has been greatly improved. At the same time, different gripping mechanisms must be equipped so that the workpiece can be gripped in different configurations without creating a single working mode.The types of fixtures can be divided into three types: translational fixtures, swing fixtures, and rotary fixtures.Translational fixture: Controlled by two pistons and moves to the center. This type of jig has excellent gripping force and neutrality, and can be used for moving workpieces in and out.Swing fixture: The swing angle of the swing device is about 40 °, and the gripping force is much larger than that of the translation fixture, which can ensure a constant force.Rotate Fixture: The working principle of the rotating fixture is just like the working principle of gear meshing: two fingers can be moved at the same time and moved to the center to align andfinally And, for comparison, we chose a parallel two-finger fixture for this design. The base design of the manipulator is a circular chassis type cylindrical support structure.