COJ Reviews & Research

Mechanics Analysis and Design of Double Fulcrum Gripper with Accurate Control by Difference Norm and Large Diameter - Lead Ratio Screw

Submission: January 01, 2022; Published: March 01, 2022

DOI: 10.31031/COJRR.2021.03.000573

ISSN: 2639-0590
Volume3 Issue5


End-effector plays a decisive role in the practical use of robot. In the two-color sole molding production line, operating robot is used to replace the traditional manual operation. This paper designed a double fulcrum gripper, which is mainly composed of double gripper, double fulcrum hinge, double large diameter - lead ratio screw, taper plate, reset spring motor, etc. The correct position between the gripper clipper and the handle is precisely controlled by the pressure difference norm of the gripper clipper and the large diameter-lead ratio screw mechanism. The embedded large diameter-lead ratio screw mechanism is used to accurately displace the taper plate, and then the lever is rotated to achieve the reliable clamping of the handle to complete the operation function. The clipper working surface is optimized and universal, which can not only operate the mold, but also effectively grip objects within a certain weight range.

Keywords: Double fulcrum gripper; Difference norm; Double large diameter-lead ratio screw; Load set; B-spline surface

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