Soft Gripper for Round PCB Handling

The Challenge: Picking Round PCBs

Picking a PCB from a tray may seem simple. But densely populated boards can make the task difficult.In this case, the workpiece is a round PCB with many electronic components on its surface.The board has limited flat areas for vacuum suction. It may also have slight warpage. When several boards sit in a tray, their positions may vary.These conditions create three main challenges:

• Unstable suction: The board may not provide enough flat space for a vacuum cup.
• Difficult positioning: Small changes in board position can affect the picking process.
• Risk of damage: Contact with solder joints or sensitive components may damage the board.

The goal is to pick the PCB safely and consistently. The gripper must avoid unnecessary contact with the components.

The Solution: Grasping the PCB from Its Edge

Rochu uses a soft robotic gripper to pick the PCB from its outer edge.The gripper does not need a large, flat surface for suction. Instead, its soft fingers wrap around the edge of the board.The fingers adapt to the contact surface. This helps distribute the gripping force more evenly.Force control also plays an important role. The system provides gripping force control with a precision of 0.1 N.This allows the gripper to apply a controlled force during picking. It also helps reduce unnecessary pressure on the PCB and its components.

Why Use a Soft Robotic Gripper?

1. Pick Without a Flat Suction Area

Vacuum cups need a suitable surface to create a stable seal.However, densely populated PCBs may have very little space for suction.Edge gripping provides another way to handle the board. The gripper can pick the PCB without relying on a large, flat surface.

2. Apply Force More Evenly

Rigid grippers often contact a workpiece at fixed points. This can create concentrated pressure.Soft fingers adapt to the shape of the contact area. They help distribute the gripping force across the edge.Combined with precise force control, this approach helps reduce the risk of damage during handling.

3. Handle Different PCB Models

Electronics manufacturers often work with different PCB models.Each model may have a different size or structure. Traditional fixtures may need changes when the workpiece changes.A soft gripper can handle different workpiece shapes within its working range. This may reduce the need to replace dedicated fixtures.The actual gripping range depends on the board size, edge shape, and gripping conditions.

Recommended Gripper Configuration

The recommended configuration for this application is:

The soft gripper module works with three soft fingers to grasp the round PCB from its edge.

For delicate electronic parts, picking the workpiece is only part of the task.The gripper must also control where it makes contact and how much force it applies.In this case, edge gripping provides an alternative to vacuum picking. It works well when the PCB has limited space for suction.The soft fingers adapt to the board's edge. Precise force control helps the gripper handle the PCB with less unnecessary pressure.As electronics manufacturers handle more PCB models, flexible gripping solutions can help reduce the need for dedicated tooling.

Need a gripping solution for your PCB?Contact Rochu to discuss your workpiece and find a suitable soft robotic gripper configuration.