Compiled &Presented By :-

AYUSH TIWARI
1021230033 [MECH-A]
Submitted To:-
Srinath Sir, Mech. Dept.
BASICS
Grippers are end effectors used to grasp and
manipulate objects during the work cycle.
The easier way to describe a gripper is to think of
the human hand. Just like a hand, a gripper enables
holding, tightening, handling and releasing of an
object.
A gripper is just one component of an automated
system. A gripper can be attached to a robot or it
can be part of a fixed automation system.

TYPES OF GRIPPER ENDS
1. Standard Grippers (Angular and parallel, Pneumatic,
hydraulic, electric, spring powered, Power-opened
and Spring-closed, PC-SO, PO-PC)
2. Vacuum Grippers (Single or multiple, use venturi or
vacuum pump)
3. Vacuum Surfaces (Multiple suction ports, to grasp
cloth materials, flat surfaces, sheet material)
4. Electromagnetic Grippers (often used in
conjunction with standard grippers)
5. Air-Pressure Grippers (balloon type)
1. Pneumatic fingers
2. Mandrel grippers
3. Pin grippers
6. Special Purpose Grippers (Hookin devices,
positioners).

INTRODUCTION
Vacuum grippers are used in the robots for grasping the
non ferrous objects. It uses vacuum cups as the
gripping device, which is also commonly known as
suction cups. This type of grippers will provide good
handling if the objects are smooth, flat, and clean. It has
only one surface for gripping the objects. Most
importantly, it is not best suitable for handling the objects
with holes.
VACUUM GRIPPERS AKA SUCTION CUPS
TYPES OF VACUUM GRIPPERS
One vendor, Piab Inc., claims A suitable suction cup is available
for virtually any situation with very few exceptions. Suction cups
are very well suited for a wide variety of needs and circumstances.
They can handle plate, eggs, paper, wood practically any material.
Be it smooth, irregular, bent, porous, airtight, lightweight, heavy,
angled, hot or cold, the material can be handled by suction cups
safely, gently and quickly.

SMALL TO
MEDIUM
OBJECTS
LARGE.
HEAVY
OBJECTS
UNEVEN OBJECTS
TYPES OF VACUUM GRIPPERS
Level compensator
A level compensator compensates for differences in level and absorbs shocks.
The mounting also reduces the need for accurate positioning in height.


BALL JOINT
A ball joint adjusts itself automatically to different contact angles
and reduces the bending moments on the suction cup. The ball-
joint is recommended in the following typical cases:
for lifting heavy objects or plates
for handling workpieces that are in motion
for handling workpieces that are curved or have irregular
surfaces

VACUUM CUPS
Generally, the vacuum cups (suction cups) will be in the round
shape. These cups will be developed by means of rubber or
other elastic materials. Sometimes, it is also made of soft
plastics. Moreover, the vacuum cups are prepared of hard
materials for handling the soft material objects.
Two different devices are used in the suction cups for creating the
vacuum. They are:
Venturi
Vacuum pump
Venturi device is operated with the help of shop air pressure, while
the vacuum pump is driven either by means of vane or piston
device. The vacuum pump has the ability to create the high
vacuum. As the venturi is a simple device, it is more reliable and
inexpensive. Both these devices are very well capable of
providing high vacuum if there is a sufficient supply of air
pressure.
VACUUM GRIPPER APPLICATIONS
PACKAGING:
Canning
Tray Making
Bottling
Box Making
Capping
Labeling
Bagging & Sealing
MATERIAL HANDLING:
Auto Manufacturing
Steel Fabricators
Conveyors
Manufacture & Packaging of Compact Dics
Electronics
Heavy Industry

VACUUM GRIPPER SPECIFICATION
WATCH OUT FOR LIFTING FORCES PARALLEL TO THE SURFACE..!!

DONT FORGET THE DYNAMIC FORCES..!!
VACUUM GRIPPER SPECIFICATION
Gripping force: generally up to 300 lbs. Multiple cups can pick up to 6,000
Pressures: requires 3 to 15 psi gage
Sizes: suction cups typically range between .05 and 18 inch diameters
Cost: Suction cup assembly $10-$500 Supporting technology: $500 $2,000
Supporting Technologies: Compressors, lines, valves, air filters, controllers




Companies: Thomas Register lists 100+ vendors. Here are the biggest:
Piab Anver
Vaccon All-Vac

VACUUM CUP ROBOT GRIPPER
MULTIPLE VACUUM CUP ROBOT GRIPPER
MULTIPLE VACUUM CUP ROBOT GRIPPER
ADHESIVE GRIPPERS
An adhesion gripper is a robot end effector that grasps objects by
literally sticking to them. In its most primitive form, this type of
gripper consists of a rod, sphere, or other solid object covered
with two-sided tape. Velcro can also be used if the object(s) to
be grasped are likewise equipped.
A major asset of the adhesive gripper is the fact that it is simple. As
long as the adhesive keeps its stickiness, it will continue to
function without maintenance. However, there are certain
limitations. The most significant is the fact that the adhesive
cannot readily be disabled in order to release the grasp on an
object. Some other means, such as devices that lock the
gripped object into place,must be used.
REFERENCES

http://www.theproductfinder.com
http://www.motionNET.com
http://www.thomasregister.com
http://www.piab.com (specializes in vacuum technology)
http://www.phdinc.com (good definitions, explanations of grippers)


SUMMARY
Grippers are used widely in many industries.
Grippers are usually custom designed.
When looking for a gripper, know what you
want it to do.
Many modern grippers are sensor-integrated.