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FITGRIP30 User Manual

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Содержание FITGRIP30

Страница 1: ...FITGRIP30 User Manual ...

Страница 2: ...etitive tasks where the object s sizes are similar This modular gripper FitGrip30 is not recommended for applications where sizes of objects are varied 2 External gripping solution is not possible with FitGrip30 3 FitGrip30 will be at OPEN state when POWER is OFF FitGrip30 is different from traditional grippers that are popular in market read the manual carefully before purchasing the product ...

Страница 3: ...description 4 1 Recommended working area 5 2 Specification 7 3 Dimensions 8 II How to Use 9 1 Mechanical interface 9 2 Examples of building gripping solutions 11 3 Electrical setup and control 18 III Fingertips 19 1 Basic fingertips 19 2 Form fit fingertip 21 ...

Страница 4: ...rent gripping solutions built from FitGrip30 can be found in Chapter II NOTE Always control the temperature of the gripper if required gripping force is higher than 25N equivalent to 8 6V applied voltage Heat is the most serious problem with FitGrip30 At 8 6V supply voltage FitGrip30 can work with 100 duty cycle When the force applied voltage is higher working duty cycle is reduced Duty cycle is d...

Страница 5: ...is slightly increased when the stroke increases and is significantly increased at the end of the stroke Make sure that the fingertip contacts with the object inside the recommended area which is at very end of the stroke See Fig 3 for relation between stroke and gripping force of FitGrip30 Note that force will be reduced when temperature is increased Figure 2 Recommended working area of FitGrip30 ...

Страница 6: ... real task Make sure that the object is at center of the jaw of the fingers Make sure that the gripping is performed at the end of the stroke and the object is firmly gripped 0 5 10 15 20 25 30 35 40 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Force N Stroke mm Stroke Force Curve 8 6V 100 duty cycle 10V 80 duty cycle 15V 20 duty cycle ...

Страница 7: ...ALUE Gripping force 15 40 N 25 N at 100 duty cycle 30 N at 80 duty cycle 35 N at 20 duty cycle Closing speed 30ms Form fit Grip Payload for 2 finger configuration 5 kg Frictional Grip payload for 2 finger configuration 2 kg Weight 240 gr Voltage 24 V DC Size 129x47x25 mm ...

Страница 8: ...APICOO ROBOTICS FitGrip30 User Manual 3 Dimensions Figure 4 FitGrip30 at OPEN state ...

Страница 9: ...ce is composed of 4x M3 thread holes and 2xΦ3 dowel holes as shown in below figure It is available in Font Back and Up sides of the finger allowing users to build their own customized gripping solution in many ways Figure 5 Mechanical interfaces are available in Font Back and Up sides of FitGrip30 ...

Страница 10: ...APICOO ROBOTICS FitGrip30 User Manual Figure 6 Dimensions of mechanical interfaces ...

Страница 11: ...30 in different ways to grasp an item In following examples FitGrip30 is attached to a jig named as Standard Jig where the position of FitGrip30 with respect to the position of the jig is adjustable as shown in Fig 7 FitGrip30 is attached to the Standard Jig by 4xM3 bolts Users can use any jig which is suitable for users purposes Figure 7 FitGrip30 with Standard Jig Using the jig several gripping ...

Страница 12: ... the Standard Jig to have a fit grip between object and grippers When the positions are properly adjusted to have a fit grip with the object that users want to grasp a vertical 2 finger gripping solution is created Users can connect the combination to the end effector of a robot as shown in Fig 10 to start working Figure 8 A flange used to connect robot s end effector to grippers Figure 9 FitGrip3...

Страница 13: ...er setup Beside the abovementioned vertical setup users also can have horizontal setup with FitGrip30 Both sides of FitGrip30 provide mechanical interface and users can connect FitGrip30s to a jig horizontally as shown in Fig 11 Then user can combine both horizontal and vertical setup into a system to build a dual gripper configuration as shown in Fig 12 ...

Страница 14: ...APICOO ROBOTICS FitGrip30 User Manual Figure 11 Horizontal setup of FitGrip30 Figure 12 Dual grippers with vertical and horizontal 2 finger configurations ...

Страница 15: ...sk Followings are some typical configurations Fig 13 shows a circular 3 point contact gripper that is used to grasp object with circular shape Fig 14 shows a gripper that can grasp cylindrical objects In Fig 15 a gripper for rectangle shape objects is shown Next Fig 16 shows a gripper for grasping multiple object in a time Figure 13 Circular 3 point contact configuration ...

Страница 16: ...APICOO ROBOTICS FitGrip30 User Manual Figure 14 Pipe shape 3 point contact configuration Figure 15 Box shape 4 finger configuration ...

Страница 17: ...APICOO ROBOTICS FitGrip30 User Manual Figure 16 A multi finger configuration ...

Страница 18: ...ls OPEN CLOSE of 2 fingers noted as OUT1 OUT2 Output force is preset and adjustable by changing value of a rotary switch knob Gripping force can be adjusted from 10 40N equivalent to 6 18V at output ports A status LED shows board power status Two LEDs OUT1 OUT2 show ON OFF status of output ports When a control port is at 5V DC the FitGrip30 connected to the related output port will be at CLOSE sta...

Страница 19: ...bjects It does not only support normal frictional grip but also provides form fit grip Both fingertips can be attached to the finger by an M4x10 bolt and 2 Φ3 dowel holes The mechanical interface between finger and fingertip is shown in Fig 16 Figure 18 Mechanical interface for fingertip 1 Basic fingertips Basic fingertip contains two rubber pads that provide high friction with metal parts It can ...

Страница 20: ...APICOO ROBOTICS FitGrip30 User Manual Figure 19 Basic fingertip with high friction with metal parts Figure 20 FitGrip30 with basic fingertip ...

Страница 21: ...pads and the center parts can be adjusted to fit with the shape of the object This form fit fingertip has high friction with glass material objects Similarly form fit fingertip can be attached to the finger in vertical or horizontal ways as shown in Fig 20 Figure 21 Form fit fingertip Figure 22 FitGrip30 with form fit fingertip ...

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