Operation; Gecko Sp Operation; How The Gecko Sp Works - OnRobot Gecko SP1 User Manual

OPERATION

5. Operation
NOTE:
It is assumed that the Installation has finished successfully. If not, first do the
installation steps in the previous section.

5.1. Gecko SP Operation

The Gecko SP is a gripper that uses gecko-inspired adhesion to pick up flat objects without
an external power source such as an air system. There are three Gecko SP (Single Pad)
versions (SP 1, SP 3, SP 5) that have different maximum payload capacities (1 kg, 3 kg, and 5
kg, respectively).
In the following sections you will find instructions on:

How the Gecko SP works.

•
How to setup the right TCP for the peeling.
•
How to Grip and Release with the Gecko SP.
•
5.1.1. How the Gecko SP Works
Gripper pick and place is entirely mechanical, and operation is controlled by the robot arm.
The Gecko Gripper attaches to flat and smooth object surfaces through the same mechanism
used by an actual gecko (van der Waals forces). This is accomplished through contact with
adhesive pads in a preload-hold-detach fashion.
The gripper creates adhesion by preloading the pads with a small force normal to the object's
surface. This is achieved by pressing the gripper directly against the object's surface.
12
The Gecko SP has a preload indicator.
By compressing the internal spring, a
maximum deflection of 4 mm can be achieved,
which results the maximum allowed preload
(for example 46N for a Gecko SP5).