Gripper systems are indispensable for industrial robots or handling systems as they form the connection between the workpiece and the handling system. Grippers are operated pneumatically or electrically and are used for gripping, holding, positioning and orienting the workpiece or tool. Normally, gripper systems are mounted on the outermost or last axis of handling systems and are connected to the main power cable.
Gripper systems can have different functionalities. They operate mechanically, pneumatically, electrically or adhesively.
Mechanical grippers resemble a human hand and have one or more fingers. These gripper systems can have several rigid joints, but are usually also flexible and bendable. They are usually pneumatic, i.e. they are operated by compressed air. Mechanical or electrical actuation is also possible.
Pneumatic grippers have vacuum cups or suction cups that pick up the workpiece using suction in order to transport it for further processing. In addition to vacuum technology, the workpieces to be processed can also be clamped and moved using pressure. If pneumatic grippers cannot be used because the surface of the workpiece does not permit the creation of a vacuum, e.g. if it is porous or holey, adhesive gripper systems usually provide an alternative solution.
When their gripping surfaces, which have tiny hairs, are pressed onto a workpiece, Van der Waals forces are generated that can be used to lift the workpiece. If the adhesive gripper is slightly tilted sideways with control, it releases its grip again. The advantage of adhesive grippers is that they do not require power and are therefore extremely energy efficient.
Electric grippers with magnetic function attract and hold the workpiece magnetically. A distinction is made between two types of magnetic gripper systems: permanent magnet grippers and electromagnetic grippers. Once the workpiece has been lifted by a gripper with permanent magnet, it must be removed by another system. Electromagnetic grippers are switched on and off by electrical energy, which is why workpieces can be gripped and set down again easily.
Festo 机械抓手通过内置驱动器进行移动，通过传动装置将驱动运动转换成夹取运动。夹爪的这种运动称为行程。可修改行程和夹持力以夹取和搬运不同规格的工件。Festo 提供气动款和电动款长行程抓手。
Festo 提供不同规格的机械平行抓手。可用作内部抓手和外部抓手。平行标准抓手用于在干净环境中搬运各种小型工件。Festo 提供配备载重型夹钳 T 形槽导轨、坚固耐用的抓取系统，可承受较强的力负载。全封闭抓手适合在重污染恶劣环境中执行搬运作业。高精度平行抓手配备无间隙夹钳滚动轴承。
Festo 核心产品系列包括三款平行抓手：不同结构规格的 DHPC、DHPS、HGPL和HGPT。DHPC和DHPS夹持力大、体积小、重复精度高，HGPL则尤其适合大型工件和长行程搬运。HGPT平行抓手坚固耐用、性能强劲，与 HGPL 一样配备 T 形槽导轨。除了核心产品系列，Festo 还提供了可满足不同要求的平行抓手：从极其适合抓取大型工件的产品，到自定心抓手和适合极恶劣环境的抓手，再到体型超小巧、方便使用的微型抓手，不一而足。
三点抓手可以定心抓取工件。Festo 提供多种规格的三点抓手。标准三点抓手适合干净环境中的通用搬运作业。如需承受较大力负载，可以选择配备载重型 T 形槽导轨、坚固耐用的三指抓取系统进行内部和外部夹取。全封闭三点抓手适合在重污染恶劣环境中执行搬运作业。
三点抓手 DHDS体积小、夹取力大、重复精度高。Festo的三点抓手 HGDD可在高扭矩负载下，通过定心运动实现精准夹取，尤其适合在恶劣环境中使用。三点抓手 HGDT通过阻隔空气实现夹钳导轨防尘，抓手使用寿命格外长。这款产品可以用作强力抓手，支持夹钳同步运动。
由平行抓手和摆动装置构成的紧凑型功能组合 - 摆动/抓手单元，也是机械抓取系统系列的一部分。这两种功能可以相互独立地单独进行控制和移动。摆动/抓手单元有三种结构规格可供选择。摆动角度可在 0° 至 210° 范围内进行设置，最大抓取力为 192 牛顿。
Festo 的摆动/抓取单元 HGDS的摆动角度可以无级调整，通过弹性阻尼或集成式减振器实现精确的终端停止。
Festo 为气动抓取系统领域提供了气囊式气爪，该产品既安全又能保护部件，可用于内部抓手。其采用机械方式增大波纹管直径，从而在内部轮廓夹紧载荷。气囊式气爪适合抓取和运输具有圆形开口的部件，比如玻璃杯、杯子、瓶子等。目前有两种波纹管材料可以选择：EPDM 适合较高负载，硅酮适合较高温度。
Festo 的气囊式气爪 DHEB提供了 11 种结构规格，抓取直径范围为 8 至 85mm。DHEB 的运动方向为向上或向下。如需抓取部件的不同位置和形状以及具有不同几何形状的产品，适合使用形状自适应抓手 DHEF。