Mahbub Ahmed
Createc
Oct 1, 2022
Period
- 2022
Robot
Kuka IIWA 14
Title
Pick and place using teleoperation. Needed a gripper to use with the Kuka IIWA 14. The version of the IIWA we have has pneumatic tubing integrated through its body, so a pneumatic gripper seemed like the obvious choice. Also needed a gripper with a wide stroke width to be able to grip a large range of object diameters. Ordered this with DHAS adaptive fingers.
Pro
- Gripper is very easily integrated
- Concise and clear documentation
- Simple to use
- Can mount different fingers
- body is wide in its stroke width but short profile so can be used in compact areas
- wide stroke width so can grip a large range of diameters
- durable and well made
- can adjust the pressure of the compressor to control the strength of the grip
- 3-8 bar pressure range
Con
- since it is mechanical you cannot control the stroke position, pretty much binary - fully open or fully closed (around object)
- you will need a compressor and tubing to connect to the gripper. I was using with the IIWA which has tubing integrated in the body, but most robots do not have this so will have to have tubing secured externally which may get in the way and bends and kinks could affect the performance of the gripper.
- you'll need to make your own system (e.g. with a solenoid valve) to control opening and closing of the gripper electronically
- we were using the DHAS adaptive fingers with the gripper, these work well with larger objects but not so great with objects with diameters less than 40 mm. Having said that the adaptive fingers are flexible and soft; grip may be better with rigid fingers.
- grip not necessarily always secure, objects sometimes shift position when gripped
- mount is not easily integrated - we needed to fabricate our own custom mount for the IIWA (even though the IIWA has a ISO standard flange)
Stavros Groutas
Wevolver
Jul 18, 2022
Period
- 2021
Robot
None
Title
Reliable and precise.
Pro
It is very precise for a machine that is required to do 100,000+ cycles. Cheaper options exist, but errors are not accepted for a machine that is part of an assembly line. The internal sensors also work tremendously and let you know if the gripper is failing.
Con
There is only a fully open and full close position. There is no regulating it in between. Attachments needed to be made for each specific part moved as grippers are very stiff.