1. Wedge lever claw

Use wedges and levers to loosen and open the claws to grasp the workpiece.

2. Chute type gripper

When the piston moves forward, the sliding groove pushes the claws through the pin to merge, resulting in clamping action and clamping force. When the piston moves backward, the claws are released. The truss-type manipulator has a large opening and closing stroke of the claw, which is suitable for grasping objects of different sizes.

3. Link lever type gripper

The claw of this truss manipulator is under the thrust of the piston, and the connecting rod and lever make the claw produce clamping (relaxation) movement. Due to the force amplification of the lever, this kind of claw may produce a larger clamping force. Usually used in conjunction with springs.

4. Gear rack type gripper

The claw of this truss manipulator pushes the rack through the piston, and the rack drives the gear to rotate, resulting in clamping and unclamping actions of the claw.

5. Parallel lever type gripper

The parallelogram mechanism is adopted, so it can ensure that the two fingers of the claw keep parallel movement without the guide rail, which is much smaller than the friction force of the parallel moving claw with the guide rail.