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Author Topic: Robotic Gripper Using a Clamp  (Read 5399 times)

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Offline airman00Topic starter

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Robotic Gripper Using a Clamp
« on: August 28, 2007, 08:25:25 AM »
I need a motorized gripper which can hold a 20 ounce bottle. The problem is that I cannot find a gripper which can open ~ 3" . I am thinking of taking a clamp and just motorizing the thread. What is the actual term for somehting a motorized clamp?
I am looking for something that acts like a motorized clamp. can anyone tell me where I can purchase one?
Thank You in advance
,Eric
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Offline Ro-Bot-X

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Re: Robotic Gripper Using a Clamp
« Reply #1 on: August 28, 2007, 10:13:32 AM »
20 fluid ounces are 590 ml. A regular servo can hold it if it has a good grip.

Try this gripper, and add some rubber o it to get a good grip on the bottle.
http://mivasecure.abac.com/bpatton/merchant.mvc?Screen=CTGY&Store_Code=RS&Category_Code=RPAM
« Last Edit: August 28, 2007, 10:17:16 AM by Ro-Bot-X »
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Offline airman00Topic starter

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Re: Robotic Gripper Using a Clamp
« Reply #2 on: August 29, 2007, 06:16:10 AM »
Thanks!
great gripper, im going to get it..
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Offline airman00Topic starter

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Re: Robotic Gripper Using a Clamp
« Reply #3 on: August 29, 2007, 06:23:51 AM »
I need one to hold the bottle and another to hold on to the bottle cap. Will the HS 311 servo be adequate for gripping the cap and twisting it off?

Heres some details about my setup. One servo holds a 20 ounce bottle. Another one grips the cap of the bottle. A third servo turns the gripper arm 180 degrees to open the bottle cap( yes thats enough to open it). And finally a fourth one tilts the bottle once it has been opened , pouring it into  a cup.

The only servos that I'm worrying about it the ones for gripping the bottle and the bottle cap. They need to be strong enough that they wont lose a grip even when the cap or bottle is turning. Any ideas?
thank u in advance,
Eric
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Offline HDL_CinC_Dragon

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Re: Robotic Gripper Using a Clamp
« Reply #4 on: August 29, 2007, 07:47:14 AM »
How about something along the lines of this:

Procedure/pseudo code:
1) The two rubber gripper arms grab a bottle
2) The little arm drops until the cap grabber is on the cap
3) The cap grapper grabs the cap (in whatever way, something rubber I guess? perhaps using a rubber bladder filled with air to grab and then emptied of air to release it? small pneumatic pumps are easy to get/salvage(food savers have a good one :D)
4) Servo or Motor spins the cap grabber which in turn also twists off the cap
5) Have a high torque 180 degree servo turn the bottle slowly* until all the way upside down over the cup(which means the arm is going to have to keep itself over the cup or the cup is going to have to keep itself under the bottle. (easy to do with some simple short range rangeFinders attached the the arm. Rangefinders get an (X,Y) of the cup where (0,0) is directly under the bottle so your gunna have to do some math if you use this idea b/c the source of the liquid is going to be moving as the bottle rotates on its Z-Axis... really not that hard if you think about it)
6) Hold for 3 seconds to allow last drops to exit bottle
7) Raise the little arm so that the cap grabber isnt in the way
8) Return bottle to upright position
9) Rotation arm base so that bottle is now located over recycling recepticle
10) Release Bottle
11) Return arm to standby position
12) Return to step 1 upon request

*So not too much flows out too quickly, just like you would poor it yourself


Not TOO descriptive that im doing all the designing for you (although I would like to and would probably have gone into more detail if I wasnt also playing a game on my second monitor :P) yet descriptive enough to get your noggin churning :)


Hope this helped!
« Last Edit: August 29, 2007, 07:51:05 AM by HDL_CinC_Dragon »
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Offline Del

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Re: Robotic Gripper Using a Clamp
« Reply #5 on: August 29, 2007, 01:00:49 PM »

Offline airman00Topic starter

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Re: Robotic Gripper Using a Clamp
« Reply #6 on: August 30, 2007, 04:59:07 PM »
Del, you just made my day. I was searching all day for a gripper and could not find an adequate one. Thank you so much!  ;D

The supplier has a gripper and a motorized clamp. Perfect man! And affordable! ;D
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