THE NINTH IFToMM INTERNATIONAL SYMPOSIUM

ON
mm THEORY OF MACHINES AND MECHANISMS
IFToMM BUCHAREST, ROMANIA, SEPTEMBER 1 - 4, 2005
ARoTMM SYROM 2005

PNEUMATIC GRIPPER FOR CYLINDER OBJECTS

Dana Department of Mechatronics and Precision Engineering, University
RIZESCU “POLITEHNICA”, 313 , Splaiul Independentei, 060042; Bucharest,
ROMANIA
E-mail: DanaRizescu@netscape.net
Ciprian Department of Mechatronics and Precision Engineering, University
RIZESCU “POLITEHNICA”, 313 , Splaiul Independentei, 060042; Bucharest,
ROMANIA
E-mail: ciprianrizescu2001@yahoo.com

ABSTRACT: This paper deals with a pneumatic gripper used to manipulate cylindrical objects like pistons
for tractors, for example. The gripper is implemented to an automatic machine dedicated to a molding
process. The gripper is attached to a mechanical arm which belongs to the automatic machine. The
gripper, which is based on a planar slider-crank mechanism, is actuated by a pneumatic cylinder.
The authors developed the mathematical model of the gripper attached to the mechanical arm and also a
3D simulation of the assembly operating. After simulation, there were operated some changes in the
gripper design in order to obtain an optimized solution. The gripper could be attached to some industrial
robots, such as RIP 63, UNIMATE, COMAU, or KUKA if this matter is necessary.

Keywords: gripper, mechanical hands, robots – end effector, grasping.

1. INTRODUCTION. THE GRIPPER MECHANISM

There is well known that robotic devices and implements have been used in a variety of fields where direct
human involvement is either too hazardous, too inefficient, or too monotonous and tiring. Examples of such
fields include manufacturing where robots are used to carry out, pickup and assembly parts, welding, nailing and
riveting, etc., handling of hazardous material such as radioactive products where direct human handling could
pose a health risk, and remote handling or manipulation of articles, control panels, or other structures where
onsite location of humans is desirable or possible.
End effectors, sometimes referred to as mechanical hands, robotic hands or grippers, are employed for a
wide range of applications where mechanical manipulation is required. In particular, virtually any industrial or
other application of robotics requires an end effector of some type to provide a manipulation capability.
Accordingly non-specific end effectors are typically complex, have a large degree of freedom and employ
complex actuation mechanisms. They may attempt to emulate the human hand, and are often referred to as
robotic hands.
Robotic grasping implements currently available range from the simple two jaw gripping device formed
similar to the jaws of a pair of pliers, to the more complicated artificial hands having three or four fingers and a
thumb which may be operated to curl about objects to be grasped. In both the simple and complicated grasping
implements, while larger objects can oftentimes be handled, smaller or thinner objects cannot be, especially if
such objects must be picked up from a flat surface (conveyor) for example. Also, the number of positions or
orientations in which graspable objects can be held is generally very limited with currently available grasping
implements.
There were considered several gripper solutions based on some US patents [1, 2, 3]. These solutions have
pneumatic actuation and rigid cranks mechanisms. In figure 1 there are shown some of gripper solutions which
were considered in our gripper design.
This paper deals with a gripper, which is based on a planar slider-crank mechanism. The gripper could be
dedicated to an industrial robot, such as RIP 63, UNIMATE, COMAU, or KUKA, [4]. But in this case the gripper
is implemented to an automatic machine dedicated to a molding process. The gripper is attached to a

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mechanical arm which belongs to the automatic machine. The gripper, which is based on a planar slider-crank
mechanism, is actuated by a pneumatic cylinder. The maximum load (mass) for manipulation is about 10 kg.
The gripper was designed for piston diameter D = 80 mm with a variation of ±5mm, [5]. If there is required
another range of diameters for pistons, the gripper could be redesigned with a minimum changes.

Fig. 1. Some pneumatic gripper solutions

2. THE DESIGNED GRIPPER

A pneumatic cylinder actuates the gripper. There are two planar slider – crank mechanisms, one for each of
the two arms of the gripper. A principle sketch of the gripper is given in figure 2. The slider - crank mechanisms
consist of rigid lever (1) which push both sliders (2) and rotate the cranks (3) fixed with arms (4). The object is
gripped with fingers (5). The whole mechanism is actuated by the cylinder’s rod (6) of the pneumatic cylinder
(7). Both arms are actuated simultaneous. The fingers (5) are shaped according to the object’s shape and
dimensions. For other objects, the fingers could be changed. A mathematical model of a slider – crank
mechanism was developed by authors, as well as an operating simulation, [6].

Fig. 2. The principle sketch of the gripper

The main advantages of this gripper are:

- a very strong grasping force using small size pneumatic cylinder;
- both arms of the gripper are actuated simultaneous.
The gripper is mounted on a mechanical arm which belongs to an automatic molding machine. In order to
find out the working space and to obtain an optimized solution, the authors developed a 3D representation of the
gripper and then of the gripper mounted on the mechanical arm.

3. A 3D MODELLING OF THE GRIPPER

There were considered the elements of the gripper mechanism according to the gripper’s design. The
authors developed a 3D representation for each part of the gripper and then were assembled using standard

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elements. The result of this modeling is presented in figure 3, where the planar slider-crank mechanisms for
each finger are represented together with the pneumatic cylinder. Some elements were set “transparent” for a
better understanding.

Fig. 3. A 3D representation of the gripper

Then, there was considered the gripper mounted on the mechanical arm of the molding machine. From this
modeling there were selected two representative situations: without the cylinder (figure 4 a), when the gripper is
in the “open” position and with the cylinder (figure 4b), when the gripper is in the “shut” position.

Fig. 4a. A 3 D representation of the gripper mounted on mechanical arm (without the cylinder)

In figure 4a there is represented a “shadow cylinder” and the gripper is in the “open” position.
An animation of the working process was performed after the 3D representation of the gripper mounted on
the mechanical arm. This animation is very useful for determining the whole working space and to obtain an
optimized solution for gripper trajectory. Then, an operating cycle for extracting and manipulating cylinders was

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elaborated together with operating times setting. Each phase of the operating cycle has a very well determined
operating time.
According to the operating cycle there are the subsequent process phases: first, the gripper is in the loading
position where a feeding system brings the cylinder to the gripper; second, the gripper is grasping the cylinder;
third the gripper together with cylinder are moving to the deposit post; forth, the gripper free the cylinder to the
conveyor and fifth, the gripper returns to the loading position.

Fig. 4b. A 3 D representation of the gripper mounted on mechanical arm (with the cylinder)

During 3D modeling, there were considered different trajectories for gripper mounted on the mechanical arm
in order to obtain an optimized solution but also a safe manipulation for cylinders. The experimental tests of the
gripper were in good agreement with theoretical and modeling ones.

4. CONCLUSIONS

Regarding pneumatic gripper: solution of the grasping device implies the first main advantage of the gripper
that is the simultaneous movement of the arms. Another important feature of this gripper is a very strong
grasping force using small size pneumatic cylinder. Also, the gripper has reduced dimensions (considering other
solutions of the same kind).
Regarding 3D representation: there was obtained an optimized solution for gripper mounted on the
mechanical arm of the molding machine.
Finally, it is a very common solution for gripper, with low costs and a few operations for implementing on a
molding machine or an industrial robot.

REFERENCES

1. U.S. Patent # 4,463,635, August, 1984

2. U.S. Patent # 4,728,137, March 1, 1988;
3. U.S. Patent # 6,082,797, July 4, 2000;
4. Rizescu,C., Rizescu,D., Panaitopol,H., Avram,M., Udrea,C., Gripper with Spatial Slider – Crank
Mechanism, The proceedings of SYROM, Bucharest, 2001, pp287-292;
5. Avram,M., Alexandrescu,N., Panaitopol,H., Rizescu,C., Coman,C., Positioning Hydraulic Micro-Unit of
High Precision, The proceedings of SYROM, Bucharest, 2001, pp. 55-58;
6. Rizescu, D., Miu, S., Rizescu, C., “Complemente de mecatronică”, Printech Publishing, Bucharest, 2000,
ISBN 973-652-178-8.

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