vb.net barcode reader from image FIGURE 28-6 The finished two-pincher gripper, with fingertip pads and actuating cables. in Software

Generation QR in Software FIGURE 28-6 The finished two-pincher gripper, with fingertip pads and actuating cables.

FIGURE 28-6 The finished two-pincher gripper, with fingertip pads and actuating cables.
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28.2 TWO-PINCHER GRIPPER
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FIGURE 28-7 A commercially available plastic two-pincher robot arm and claw toy. The gripper can be salvaged for use in your own designs.
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Dowel Set screw
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Arm Tube
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End View
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FIGURE 28-8 Assembly detail for the claw gripper and wooden dowel. Drill a hole for the actuating cable to pass through.
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EXPERIMENTING WITH GRIPPER DESIGNS
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Coupling Cable to Claw (Spring-loaded Inside Claw)
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Steel Aircraft Cable Motor Spindle
FIGURE 28-9 One method for actuating the gripper: attach the solid aluminum cable from the claw to a length of flexible steel aircraft cable. Anchor the cable to a motor or rotary solenoid. Actuate the motor or solenoid and the gripper closes. The spring in the gripper opens the claw when power to the motor or solenoid is removed.
spring built into the toy arm opens the gripper when power is removed from the solenoid or motor.
28.2.3 ADVANCED MODEL NUMBER 2
This gripper design (Fig. 28-1) uses a novel worm gear approach, without requiring a hardto-find (and expensive) worm gear. The worm is a length of 1 4-in 20 bolt; the gears are standard 1-in-diameter 64-pitch aluminum spur gears (hobby stores have these for about $1 apiece). Turning the bolt opens and closes the two fingers of the gripper. Refer to the parts list in Table 28-3. Construct the gripper by cutting two 3-in lengths of 41 64-by-1 2-by-1 16-in aluminum channel stock. Using a 3-in flat mending T plate as a base, attach the fingers and gears to the T as shown in Fig. 28-10. The distance of the holes is critical and depends entirely on the diameter of the gears you have. You may have to experiment with different spacing if you use another gear diameter. Be sure the fingers rotate freely on the base but that the play is not excessive. Too much play will cause the gear mechanism to bind or skip.
TABLE 28-3 2 2 1 1 1 2 2 1
Parts List For Worm Drive Gripper 3-in lengths 41 64-by-1 2-by-1 16-in aluminum channel 1-in-diameter 64-pitch plastic or aluminum spur gear 2-in flat mending T 11 2-by-1 2-in corner angle iron 31 2-by-1 4-in 20 stove bolt
4-in 20 locking nuts, nuts, washers, tooth lock washers 2-in-by-8 32 stove bolts, nuts, washers
1-in-diameter 48-pitch spur gear (to mate with gear on driving motor shaft)
28.2 TWO-PINCHER GRIPPER
3" Gears
3" "T"
Locking Nut
Tooth Lock Washer
Nut 31/2" x 1/4"-20 Bolt
11/2" x 1/2" Corner Angle Iron
48 Pitch Spur Gear
FIGURE 28-10 A two-pincher gripper based on a homemade work drive system. a. Assembled gripper; b. worm shaft assembly detail.
FIGURE 28-11 Adding a second rail to the fingers and allowing the points to freely pivot causes the fingertips to remain parallel to one another.
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Pivot Points
Palm
Gripper
FIGURE 28-12 Close-up detail of the dual-rail finger system. Note the pivot points.
Secure the shaft using a 11 2-by-1 2-in corner angle bracket. Mount it to the stem of the T using an 8 32-by-1-in bolt and nut. Add a #10 flat washer between the T and the bracket to increase the height of the bolt shaft. Mount a 31 2-in-long 1 4-in 20 machine bolt through the bracket. Use double nuts or locking nuts to form a free-spinning shaft. Reduce the play as much as possible without locking the bolt to the bracket. Align the finger gears to the bolt so they open and close at the same angle. To actuate the fingers, attach a motor to the base of the bolt shaft. The prototype gripper used a 1 2-in-diameter 48-pitch spur gear and a matching 1-in 48-pitch spur gear on the
Pull Cables to Close
FIGURE 28-13 A way to actuate the gripper. Attach cables to the fingers and pull the cables with a motor or solenoid. Fit a torsion spring along the fingers and palm to open the fingers when power is removed from the motor or solenoid.
Pulley Gear Torsion Spring Tension Spring Gripper (Closed Position)
Drive
Torsion Spring
FIGURE 28-14 Actuation detail of a basic two-pincher gripper using a motor. The tension spring prevents undo pressure on the object being grasped. Note the torsion springs in the palm of the gripper.
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FIGURE 28-15 A close-up view of the Armatron toy gripper. Note the use of the dual-rail finger system to keep the fingertips parallel. The gripper is moderately adaptable to your own designs.
drive motor. Operate the motor in one direction and the fingers close. Operate the motor in the other direction and the fingers open. Apply small rubber feet pads to the inside ends of the grippers to facilitate grasping objects. Figs. 28-11 through 28-14 show another approach to constructing two-pincher grippers. By adding a second rail to the fingers and allowing a pivot for both, the fingertips remain parallel to one another as the fingers open and close. You can employ several actuation techniques with such a gripper. Fig. 28-15 shows the gripping mechanism of the Radio Shack/Tomy Armatron. Note that it uses double rails to effect parallel closure of the fingers. You can model your own gripper using the design of the Armatron or amputate an Armatron and use its gripper for your own robot.
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