公开(公告)号：US20240300094A1

公开(公告)日：2024-09-12

申请号：US18573197

申请日：2022-07-12

Applicant: CAMOZZI AUTOMATION S.P.A.

Inventor： Luca FIORIO ,  Rocco Antonio ROMEO ,  Alberto PARMIGGIANI ,  Michele GESINO ,  Marco ROSSI ,  Alberto MINGOTTI ,  Salvatore PALMIERI

IPC: B25J9/16 ,  B25J13/08 ,  B25J15/02

CPC classification number: B25J9/1612 ,  B25J9/1641 ,  B25J13/082 ,  B25J15/0273

Abstract: A gripper which has a friction estimation module configured to estimate static and/or dynamic friction forces acting on gripping jaws is provided. The static friction force is calculated on the basis of constraining reactions whereto the gripping jaws are subjected, the constraining reactions being calculated at least as a function of an actuation force exerted on the gripping jaws, a coefficient of friction of gripper materials and/or lubricant used being known. The dynamic friction force is calculated on the basis of speed of the gripping jaws, width of sliding surfaces and distance between the sliding surfaces of the gripping jaws, the viscosity of the lubricant used being known.