Gripper Mechanical Assembly

- Provisional fingers and flange mechanical assembly see file bellow.

- Gripper is actuated by SCHUNK gripper MEG64
http://www.schunk.com/schunk_files/attachments/OM_AU_MEG64-EC__EN.pdf

- The gripper force and torque is measured by force sensor ATI Mini 45 FT sensor
[[http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini45]]

- ATI Mini 45 FT sensor reference frame: http://www.ati-ia.com/app_content/Documents/9230-05-1094.pdf

- The scheme of the robot gauge and the old versions of the gripper have been moved to the "Archive" section. The last version of the gauge is not corresponding with the last version of the gripper model. It will be completed after the gauge testing at the CTU.

- Archive - old versions of documents, which are not actual, however, still could be useful for future development.

Flange assembly.pdf - Provisional gripper to robot flange mounting and bill of materials (69.2 KB) Vladimir Smutny, 12/14/2012 13:49

fp7_clop_00.jpg - Provisional finger mounting (63.3 KB) Vladimir Smutny, 12/14/2012 13:49

CLOPEMA_temporary_finger.stp - Provisional gripper STEP model (146 KB) Vladimir Smutny, 01/07/2013 11:43

fp7_clop_300_e_asm.stp - 1-Year Gripper STEP model. (2.14 MB) Unige Group, 08/20/2013 10:20

1_Year_Gripper_closed.stp - Gripper without flange (1.69 MB) Unige Group, 09/13/2013 15:31

1_Year_Gripper_open.stp - Gripper without flange (1.69 MB) Unige Group, 09/13/2013 15:31

Gripper_flange_A.stp - Basic flange (158 KB) Unige Group, 09/13/2013 15:31

Gripper_flange_B_C_ATI_sensor.stp - ATI force sensor & flanges (2.08 MB) Unige Group, 09/13/2013 15:31

Gripper_gauge.stp - Gripper&gauge (STEP model) (2.52 MB) Jan Krátký, 09/20/2013 13:34

Gripper_camera_ILC.stp - Gripper&camera&ILC (STEP model) (2.2 MB) Jan Krátký, 09/20/2013 13:35

12010_K_00_05_Gripper_Connection_01.pdf - Total dimension of all components in the connection between robot flange and gripper. (109 KB) Jan Krátký, 09/20/2013 13:59

12010_L_00_05_GripperCoordinateSystems_01.pdf - Gripper coordinate systems (gauge) (263 KB) Jan Krátký, 09/20/2013 13:59

12010_L_00_06_GripperCoordinateSystems_02.pdf - Gripper coordinate systems (camera&ILC) (249 KB) Jan Krátký, 09/20/2013 13:59