Cu plate vacuum gripper with mechanical securing fingers.

grabcad

Cu plate weight was ~150kg. Gripper was attached to a 300kg Kuka PA robot. Surface of the Cu plate was really rugged, special vacuum pads and ejectors were used. For additional security we had to use mechanical fingers, that were activated after lifting of the plate from the pile. Pile of Cu plates was not even so we had to implement a special floating system that will allow the gripper to tilt ~15 degrees on x and y axis and move on the direction of z axis ~50mm during grabbing. After securely grabbing the plate the floating unit was made stiff that made placing of the plate accurate.