The Thermo Scientific Servo Gripper is available for use
on a robot or available for stand alone use. The Servo Gripper enables control
of both the gripping force and the distance between the gripper fingers. This
enables the robot application to vary gripping force for different types of
payloads, to measure the size of a payload, and to detect when a payload is
missing.
Product Detail
Thermo Scientific Laboratory Automation Robot Systems require the
attachment of a gripper (or other end effector) to the robot arm. Our Servo
Grippers are electric, servo-controlled, parallel motion, two-finger grippers,
which are typically used in applications that require varying grip distances and
gripping force.
With finger travel of 65 mm, our Servo Grippers are
compatible with Thermo Scientific Standard Fingers, Microplate Fingers
(straight) and Universal Fingers (offset). Fingers are easily attachable
to our Servo Grippers.
Custom-designed grippers and other end effectors are also
available. Contact Thermo Scientific Laboratory Automation and Cellular
Imaging Services for more information.
Features
65 mm Gripper has (2.5 in.) of finger travel
Position servo control, position sensing, and position
feedback
Variable grip force
Easy installation
Thermo Scientific Microplate Fingers are available in
straight and offset format
Warranty for two million cycles
Benefits
Software for stand alone use
65 mm servo gripper with microplate fingers can grip
microplates in portrait and landscape mode
Position servo control, position sensing, and position
feedback provides accurate positioning of the end effector
Variable grip force enables you to grip objects with
the appropriate amount of force
Easy installation facilitates setup
Position servo control with position sensing and
feedback, enables you to precisely position the gripper
Specifications
Parameter
Typical Values
A-Series
F-Series
Units
Cycle time (from close to open to close- two cycles) (1)
1.5
2.45
Secs
Holding force (max)
5.25
3.75
kg
Stroke
65
65
mm
Grip resolution
0.28
0.34
mm
Grip repeatability (3s deviation) (2)
Single direction(3)
+/- 0.58
mm
Bi-directional(4)
+/- 0.40
mm
Accuracy(5)
Single direction
+/- 1.0
mm
Bi-directional
+/- 0.92
mm
Gauging repeatability (3s deviation)(6)
From Grip Open
+/- 0.46
mm
From Grip Close
+/- 0.40
mm
Gauging accuracy (7)
From Grip Open
+/- 0.72
mm
From Grip Close
+/- 1.57
mm
Operating temperature
10-40
°C
Power consumption
3
W
Cable length (8)
(unstretched)
152
mm
Gripper weight (including mounting hardware, but
excluding fingers)
0.673
Kg
IP rating (9)
IP30
--
Operating voltage (10)
15 24
Vpeak
Max backlash after 2,000,000 cycles
1.5
mm
Number of cycles (11)
2x106
Cycles
Accuracy de-rating over lifetime
2.5% 3%
--
Minimum force required to operate effectively
30
(%)
Max. grip force allowed w/ microplate fingers
40% (2.5kgf) 60%(2.5kgf)
Note:
All tests done at 20 °C
measured at 100% grip force, and averaged over 10
cycles (using the 'Grip Finish' command query
Grip repeatability is the variation in the distance
measured
Single directional: to approach a point always from
the same direction
Bi-directional: to approach a single point from either
direction
Accuracy is the variation of the distance read - distance measured. Accuracy of is 99.7%
Gauging repeatability is the variation of the distance
read vs. the length of a real, known part
Gauging accuracy is the variation of the distance
measured - distance read
Joint 6 must have joint limits imposed to prevent
cable from wrapping around the wrist. Default F3 robot settings DO NOT limit
joint 6 travel
F3 robot with servo gripper is NOT sealed (robot
rating becomes IP30)
Voltages are clamped to 12V after 1 second; F-Series
robots use 24V peak, which is averaged to 12V nominal
1 cycle = movement in a single direction (definition
for this case only)
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is 99.7%
