OnRobot Gecko SP1 User Manual page 17

HARDWARE SPECIFICATION
How to Pick a Part Using the Gecko Gripper SP
Grip
Position
How to Release a Part
Method 1 – Robot Peeling Movement:
Release
Place
Method 2 – Fixturing:
It is also possible for users to craft their own custom fixture to assist in peeling off an object if
the above method is not desirable. For example, the Gecko SP1/3/5 could grip a panel and
then visit a forked tool to slide between, move up and release the object. The fixture design is
completely at the user's discretion.
Usage Notes
Because of the Gecko Gripper SP's unique mechanism of action, it is important to understand
the following key operating principles to use the gripper correctly and to achieve optimal
gripper performance. This is VERY important.
Surface Roughness Affects Gripping
•
The Gecko Gripper works best with highly polished surfaces that allow for maximal contact
between the adhesive pads and the substrate surface. As the surface becomes less
smooth, more preload force is required to grip substrates. Matte surfaces should be
considered the maximal surface roughness limit which the gripper is able to grip.
Environmental Conditions Affect Gripping
•
The adhesive pads use van der Waals forces to attach to a substrate. If there is dust or
debris on the substrate surface, the pads will interact with these particles instead. Dusty,
Contact & Preload Lift
Tilt to Release
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