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FORPACKAGINGPARCELSORBUNDLES4HETIESAREGUIDEDBYSLIDESON
TWOSIDESOFTHEGRIPPERTOENSURELATERALGUIDINGANDPREVENTTHE
TIESFROMSLIPPINGOUT4HETIESARELEADUNDERNEATHTHEBAGGAGETO
THEOTHERSIDEANDTAKENUPBYTHEBRACINGMACHINEWHICHCUTSTHE
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THETIESFROMSLIPPINGWITHINTHEGUIDINGCHANNELSOFTHEGRIPPER
THEYARECLAMPED4HUSTHEBAGGAGEISSAFELYATTACHEDTOTHEGRIPPER
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PICKANDPLACEOPERATION
4HISISANOVELTYPEOFGRIPPERJAWDESIGNBECAUSEBRACINGREQUIRES
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As shown in table 3.16 a spherical workpiece is clamped between
two prismatic jaws with the opening angle
α. The gripping force is
calculated with the appropriate formule. In the first case we need
to consider the fact that weight acts against acceleration. The latter

and the resulting adhesive friction must be completely assimilated
by force-fit gripping, which requires higher gripping force than in
the other examples. Form-fit gripping in the direction of accelera-
tion and of gravity is provided in the second example. The gripper
must counteract the force which stretches the gripper fingers
caused by acceleration. The third example just requires half as
much gripping force because the latter can be equally distributed
to both gripper jaws. This type of handling is especially kind on the
gripper and the workpiece as forces can be kept low.
Kinematics or drives for grippers
Gripper fingers need to be set in motion to build up gripping forces
on the workpiece. Grippers can be categorized by their principles of
drive. Our overview shows that mechanical grippers constitute the
main representatives of gripping technology. Suction grippers, i. e.
grippers with one or more switch-on/switch-off contact surfaces,
are being widely used for industrial applications. Magnetic grippers,
adhesive grippers, mold grippers, and needle grippers are still exep
-
tions to the rule.
Mechanical gripper kinematics must transfer movement of drive
into movement of gripper fingers, e. g. rotary drive movements
have to be transferred into linear gripper finger movements.
This type of kinematics includes all drive, transmission, and guid-
ing elements which are necessary to realize the movement of the
drive. The kinematic scheme shows most gripper drives in use,
categorized by their input or output movement. The input move-
ment is contrasted to the output movement for rotary and linear
movements respectively.
113
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