Abstract: A gripping system includes a gripper body having a vacuum pathway, a vacuum source connector, and an air source connector. A plurality of air lines are coupled to the air source connector and a respective plurality of valves are coupled to the air lines. Each one of the valves is configured for switching between a compressed air source and a vacuum source. A respective plurality of compensators are coupled to the plurality of air lines. Each compensator includes a cylinder and a piston configured for reciprocal linear translation within the cylinder. An expansion volume in the cylinder is in fluid communication with one of the air lines, and is configured to expand when the air line is coupled to the compressed air source and is configured to contract when the air line is coupled to the vacuum source, thereby extending and retracting the compensator relative to the gripper body.

Abstract: A gripping system for grabbing and releasing an object using a robotic arm includes a gripper body for operably engaging the robotic arm. The gripper body includes a vacuum pathway, a vacuum source connector operably coupled to the vacuum pathway, and a compressed air source connector. A plurality of compensators are configured to extend and retract relative to the gripper body. Each one of the compensators is configured for being placed in communication with the vacuum pathway when the compensator is in the extended position and for being isolated from the vacuum pathway when the compensator is in the retracted position.