In this paper, a kind of micro-gripper is introduced using vacuum adsorption method. The gripper is used to grasp a mm size micro-part in a micro-assembly process. Because of the requirement of the adsorption force, the negative pressure control system is employed which can let the micro-gripper inhale and exhale freely. Accordingly, the adsorption force of the micro-gripper can be controlled accurately. The PLC controller is used to get the pressure information from the electronic proportional valve. The PID control law is employed to adjust the opening of the valve. In this way, the micro-gripper can easily clamping and release micro-part especially for some micro-parts with adsorption effect. Experiments show that the adsorption force on the micro-part is greater than 0.5N satisfying the requirement of the clamp to grasp the micro-part.

This article describes the mechanical structure design method of the stacking-destacking robot and puts forward part kinematics analysis. In accordance with the actual technology requirement of modern brick kiln companies in logistics automation industry, a universal stacking-destacking robot is designed based on the functional requirement. And depending on the actual production requirements of the robot, it is designed to a kind of five-dof cylindrical coordinate one. This thesis focuses on the design and analysis of the mechanical structure of the robot. And according to the production requirements, some important components are selected. Finally, the kinematics analysis of the robot was brought forward and they are verified by experiments. The results show that this robot we designed can completely satisfy the technical requirements of the work in brick kilns destacking.