©Empire Robotics, Inc. R20140519 Model #RB3-065/035 Product Manual

Model #RB3-065/035 6 R20140519 5. Operating Requirements The most critical aspect of the installation process is air. Without proper ai

Model #RB3-065/035 7 R20140519 port size of 3/8" NPT is recommended. Empire Robotics uses Clippard p/n MME-33WES for internal testing. Be

Model #RB3-065/035 8 R20140519 Clippard p/n MMF-4W-F5 if you have no other filtering or moisture separation equipment in place. Testing your air

Model #RB3-065/035 9 R20140519 6. Installation Make sure that your robot is powered down and in a safe position before installing you

Model #RB3-065/035 10 R20140519 Figure 4 Align the adapter plate with your robot’s wrist and install using the M4, M5, or M6 screws provided (se

Model #RB3-065/035 11 R20140519 Cut the provided air tubing to an appropriate length, making sure to leave enough length to allow full range of mot

Model #RB3-065/035 12 R20140519 7. Performance Confirmation & Diagnosis Your model #RB3-065/035 VERSABALL® Gripper comes with a diagno

Model #RB3-065/035 13 R20140519 Figure 8 4. While watching the included vacuum gauge installed at the gripper’s auxiliary port, open the

Model #RB3-065/035 14 R20140519 If the ultimate vacuum level does not reach at least 22 inHg, either the upstream air supply is restricted or ther

Model #RB3-065/035 15 R20140519 8. Programming and Operation Recommendations VERSABALL® Grippers utilize a technology known as granular jam

Model #RB3-065/035 16 R20140519 Figure 11 Your model #RB3-065/035 VERSABALL® Gripper does not contain any electrical components. The g

Model #RB3-065/035 17 R20140519 include: size, shape, weight, hardness, and surface texture. In general though, the gripping capabilities of your V

Model #RB3-065/035 18 R20140519 Figure 13 Approach the target object from above as shown in Figure 14. The gripper should be orient

Model #RB3-065/035 19 R20140519 Figure 15 For more complex target objects, as shown in Figure 16, the optimal alignment may be away from the

Model #RB3-065/035 20 R20140519 Conforming to the target object: When the gripper is on approach about 3” above the target object, begin

Model #RB3-065/035 21 R20140519 Figure 18 When choosing the appropriate contact depth for a target object, be careful to use only the minimum dep

Model #RB3-065/035 22 R20140519 gripped object directly at a camera also affords the opportunity to locate and orient the object within t

Model #RB3-065/035 23 R20140519 edge by some distance d as shown on the right, then for an object of mass m and width w, the maximum acceleration c

Model #RB3-065/035 24 R20140519 object as well as the gripping routine you have programmed. You can maximize the life of your VERSABALL® heads by s

Model #RB3-065/035 25 R20140519 operator during continuous use (approximately every 5,000 grips). During this inspection, the operator shoul

Table of Contents 1. Overview ... 1 2. Safety Information ...

Model #RB3-065/035 26 R20140519 12. Warranty As a customer, you are our number one priority, and we pride ourselves on providing you

Model #RB3-065/035 27 R20140519 13. Notes

Model #RB3-065/035 28 R20140519

Model #RB3-065/035 29 R20140519

Model #RB3-065/035 30 R20140519

Model #RB3-065/035 1 R20140519 1. Overview Thank you for purchasing a VERSABALL® Gripper from Empire Robotics. VERSABALL® utilizes Empi

Model #RB3-065/035 2 R20140519 2. Safety Information This model #RB3-065/035 VERSABALL® Gripper is a research development unit, and therefo

Model #RB3-065/035 3 R20140519 Granular material hazards: F. Your model #RB3-065/035 VERSABALL® Gripper contains redundant filtering mechan

Model #RB3-065/035 4 R20140519 3. Packing List and Terminology Your model #RB3-065/035 VERSABALL® gripper is shipped fully assembled and

Model #RB3-065/035 5 R20140519 4. Technical Specifications This model #RB3-065/035 VERSABALL® Gripper is a research development unit. Some