OPENTECHNICAL PUBLICATION OT-2026-000010133 Two finger electric gripper, stripped after set-down Published: 2026-09-17T08:11:35.184400Z Permanent URL: https://opentechnical.org/p/OT-2026-000010133 Categories: Robotics & Automation > End Effectors > Mechanical Grippers ------------------------------------------------------------------------ ABSTRACT A mechanical finger gripper comprising one mounting flange, two gripper fingers and one separating element. When the gripper reaches the gripping position, the gripper fingers are closed by the electric actuator. After the gripper fingers have been opened, the workpiece is released by the separating element. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed. 1. Purpose and arrangement [0001] This disclosure describes a mechanical finger gripper: two gripper fingers carried on a mounting flange. It is arranged for separating a workpiece that stays on the face. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations. 2. Components, construction and connections [0002] One mounting flange. The mounting flange carries the whole assembly and presents the bolt pattern that meets the robot. [0003] Two gripper fingers. The fingers close onto the workpiece and hold it by form closure; they need access to opposed surfaces of the workpiece. The count of two follows from the arrangement: the count is the one the source module states. The fingers are driven by an electric actuator. [0004] One separating element. The separating element acts on the workpiece directly, so release does not depend on the holding mechanism alone. [0005] The gripper fingers are carried on the tool side of the mounting flange. [0006] The separating element acts on the workpiece held at the gripper fingers and pushes it clear of the face. [0007] The robot side of the mounting flange is bolted to the robot flange. [0008] The electric finger actuator is supplied from the electrical supply of the cell. [0009] The separating element is driven from the compressed air supply of the cell. [0010] The separating element is switched by the cell controller. 3. Operating sequence and conditions [0011] - When the gripper reaches the gripping position, the gripper fingers are closed by the electric actuator. [0012] - While the gripper fingers are in the closed state, the workpiece is clamped by the gripper fingers. [0013] - After the workpiece has reached the set-down position, the gripper fingers are opened by the electric actuator. [0014] - After the gripper fingers have been opened, the workpiece is released by the separating element. [0015] The cell controller commands the gripper fingers, the separating element; no sensor drives an actuator directly. 4. Parameters and operating assumptions [0016] Parameter values of this embodiment: drive medium of the gripper fingers: electric (sets which supply the cell has to provide to the actuator and how the closing force is set); timing of the separating element: after set-down (sets when the separating element acts relative to set-down). 5. Provenance and status [0017] This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-10549431-B2, US-2023381975-A1, US-8043071-B2; their text is not reproduced, and the description above is generated from the structure of the combination. 6. Correction notice [0018] This publication supersedes OT-2026-000005847, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: ejector removed: a mechanical fingers carries no vacuum circuit; the same corrected configuration also replaces OT-2026-000005984, OT-2026-000006438. ------------------------------------------------------------------------ OpenTechnical publication OT-2026-000010133 Published 2026-09-17T08:11:35.184400Z https://opentechnical.org/p/OT-2026-000010133