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Supplier: PHD, Inc.
Description: Double-acting for either internal or external gripper applications. Oval piston construction provides high grip force to weight ratio. Close tolerance jaw mechanism eliminates jaw play. Advantages: Heavy duty construction, pneumatic service, high grip force, spring
- 180° Open: Yes
- Gripper Actuation: Pneumatic
- Gripper Style: Parallel
- Jaw Material: Steel
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Supplier: PHD, Inc.
Description: Compact size is ideal for handling small parts in confined areas. Units provide true parallel jaw travel with no arching motion for easy tooling design. Advantages: Small size, pneumatic service, two jaw travels, two jaw styles, spring assist, and switches.
- 180° Open: Yes
- Gripper Action: Double Action Spring Assist Open, Double Action Spring Assist Close
- Gripper Actuation: Pneumatic
- Gripper Style: Parallel
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Supplier: PHD, Inc.
Description: Double-acting for either internal or external gripping applications. Optional internal springs allow the unit to be used as a single-acting gripper, for additional grip force, or for grasping an object without air pressure. Advantages: Heavy duty construction, pneumatic service,
- 180° Open: Yes
- Gripper Actuation: Pneumatic
- Gripper Style: Angular
- Jaw Material: Steel
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Supplier: PHD, Inc.
Description: A SHURGRIP version is available for restraining jaw movement and retaining the part upon loss of air pressure. Available in four sizes with two jaw and body styles for maximum application versatility. High grip force to weight ratio for efficient use of space and power. Advantages: Long
- 180° Open: Yes
- Gripper Actuation: Pneumatic
- Gripper Style: Parallel
- Gripping Force: 427 to 2709 N
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Supplier: SAS Automation, LLC
Description: Stainless steel, lightweight, miniature air gripper Single acting spring return CHM11ACK has 5mm spring loaded buffer
- Gripper Action: Single Action
- Gripper Actuation: Pneumatic
- Jaw Material: Stainless Steel
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Supplier: GIMATIC S.r.l.
Description: Gripper for engagement The AGG is used to provide a precise centering between the robot and the mould. This is necessary when metal inserts must be placed in the mould, before the plastic injection. The gripper AGG…-B is fitted on the EOAT, while the steel bushing
- Gripper Action: Double Action
- Gripper Actuation: Pneumatic
- Number of Grips: 2
- Operating Temperature: 41 to 140 F
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Supplier: ASCO
Description: Body: One piece construction for maximum rigidity. Hardcoat Teflon ®impregnated inside and out. compact, lightweight, high grip force to size ratio. Slides: Slides are 100% engaged in body throughout the entire stroke length. Electroless Nickel plated. No external arms
- Gripper Action: Double Action, Double Action Spring Assist Open, Double Action Spring Assist Close
- Gripper Actuation: Pneumatic
- Gripper Style: Parallel
- Gripping Force: 44.48 N
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Supplier: R&I Manufacturing Co.
Description: • Full range of sizes • Adjustable finger stroke • Robust design • Durable construction with few moving parts • Top and side mounting • Optional cap styles • Sensors Availabl
- Angular Stroke: 5 degrees
- Gripper Action: Double Action, Double Action Spring Assist Open, Double Action Spring Assist Close
- Gripper Actuation: Pneumatic
- Gripper Style: Angular
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Supplier: R&I Manufacturing Co.
Description: • Full range of sizes • Adjustable finger stroke • Robust design • Durable construction with few moving parts • Top and side mounting • Optional cap styles • Sensors Availabl
- Angular Stroke: 5 degrees
- Gripper Action: Double Action, Double Action Spring Assist Open, Double Action Spring Assist Close
- Gripper Actuation: Pneumatic
- Gripper Style: Angular
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Supplier: GIMATIC S.r.l.
Description: 2-jaw self-centering angular pneumatic sprue gripper, series DD • Single acting with spring opening. • Very high closing force. • Several mounting accessories. • Optional magnetic sensors. • Steel jaws. • FDA-H1 food-grade grease. • Protection against the entry of small foreign
- Angular Stroke: 15 degrees
- Gripper Action: Single Action
- Gripper Actuation: Pneumatic
- Gripper Style: Angular
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Supplier: GIMATIC S.r.l.
Description: 2-jaw self-centering angular pneumatic sprue gripper, series DA • Single acting with spring opening. • Several mounting accessories. • Steel jaws. • Plastic-steel-alumin ium composite body. • FDA-H1 food-grade grease.
- Angular Stroke: 15 degrees
- Gripper Action: Single Action
- Gripper Actuation: Pneumatic
- Gripper Style: Angular
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Supplier: G.L. Huyett
Description: Grip rings are stamped grooveless retainers that are radially applied using an applicator. Because there is no groove, the part may be adjusted on the shaft to take up end-play. Load capacity will be reduced if the part is reused.
- Coating or Plating: Yes
- Design Units: Inch
- Material: Beryllium Copper, Spring Steel
- Primary Retaining Ring Type: External
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Supplier: Mark-10 Corporation
Description: This compact self-tightening grip with a capacity of 100 lbF (500 N) is ideal for a range of low force tensile testing of small samples. The serrated steel jaws are easily opened with an ergonomic spring-loaded lever.
- Test Applications: Tensile
- Type: Test Grip / Clamp
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Supplier: Klein Tools, Inc.
Description: FORGED STEEL MATERIAL 5 INCH JAW LENGTH 0.21 INCH MIN. CABLE OUTER DIAMETER 0.55 INCH MAX. CABLE OUTER DIAMETER EXTRA HIGH STRENGTH GALVANIZED STEEL CABLE TYPE LOCKING LOOP HANDLE TYPE INDUSTRIAL, POWER UTILITY/TELECOMMUNIC ATION
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Supplier: Klein Tools, Inc.
Description: FORGED STEEL MATERIAL 5-1/2 INCH JAW LENGTH 0.74 INCH MIN. CABLE OUTER DIAMETER 0.86 INCH MAX. CABLE OUTER DIAMETER ACSR CABLE TYPE LOCKING LOOP HANDLE TYPE INDUSTRIAL, POWER UTILITY/TELECOMMUNIC ATION CABLE PULLING, TEMPORARY
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Supplier: Klein Tools, Inc.
Description: FORGED STEEL MATERIAL 4-7/8 INCH JAW LENGTH 0.31 INCH MIN. CABLE OUTER DIAMETER 0.53 INCH MAX. CABLE OUTER DIAMETER ACSR CABLE TYPE LOCKING LOOP HANDLE TYPE INDUSTRIAL, POWER UTILITY/TELECOMMUNIC ATION CABLE PULLING, TEMPORARY
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Supplier: Klein Tools, Inc.
Description: FORGED STEEL MATERIAL 5 INCH JAW LENGTH 0.21 INCH MIN. CABLE OUTER DIAMETER 0.55 INCH MAX. CABLE OUTER DIAMETER BARE, INSULATED CABLE TYPE LOCKING LOOP HANDLE TYPE INDUSTRIAL, POWER UTILITY/TELECOMMUNIC ATION CABLE PULLING
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Description: head socket screws. They can also be used in SEMS assemblies. Made of selected high quality carbon spring steel , these are available with mechanical zinc or tin plate.
- Inside Diameter: 0.1220 to 0.5120 inch
- Outside Diameter: 0.4020 to 1.27 inch
- Spring Washer Material: Spring Steel
- Spring Washer Type: Belleville Washer
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Supplier: Mark-10 Corporation
Description: These heavy duty self-tightening grips with a capacity range of 50 lbf to 2,000 lbF (250 N to 9 kN) are ideal for tensile testing of a wide range of materials. Select from rubber or serrated, hardened steel jaw faces. The jaws ride on rollers instead of sliding along the surface of the
- Test Applications: Fatigue / Cyclic, Tensile
- Type: Test Grip / Clamp
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Supplier: Mark-10 Corporation
Description: These heavy duty self-tightening grips with a capacity range of 50 lbf to 2,000 lbF (250 N to 9 kN) are ideal for tensile testing of a wide range of materials. Select from rubber or serrated, hardened steel jaw faces. The jaws ride on rollers instead of sliding along the surface of the
- Test Applications: Fatigue / Cyclic, Tensile
- Type: Test Grip / Clamp
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Supplier: Mark-10 Corporation
Description: These heavy duty self-tightening grips with a capacity range of 50 lbf to 2,000 lbF (250 N to 9 kN) are ideal for tensile testing of a wide range of materials. Select from rubber or serrated, hardened steel jaw faces. The jaws ride on rollers instead of sliding along the surface of the
- Test Applications: Fatigue / Cyclic, Tensile
- Type: Test Grip / Clamp
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Supplier: Lee Spring Company
Description: to attach to the components they connect. They are frequently used to provide return force to components that extend in the actuated position. Applications: Applications for extension springs include automotive interiors and exteriors, garage door assemblies, vise-grip pliers,
- Design Units: English Units
- Extended Length: 3.16 inch
- Free Length (Inside Hooks): 2 inch
- Maximum Load: 20.7 lbs
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Supplier: E-Z-HOOK, a division of Tektest, Inc.
Description: The XK25SS micro-hook double gripper has a narrow body design allowing for side by side connections where high density is required. The stainless steel double hooks are retracted by a single stainless steel compression spring. With a 0.025 in square pin accessible through
- Attenuation Factor: 1X
- Operating Temperature: 110 C
- Probe Configuration: Flat Blade, Hook, Spring Loaded
- Probe Type: Voltage
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Supplier: Staubli Electrical Connectors
Description: With steel jaws especially for connections to ground rails and thick cables. For increased safety when making connections, the jaws are insulated on the outside. Ø 4 mm rigid socket in handle accepting spring-loaded Ø 4 mm plugs with rigid insulating sleeve. Transparent fuse holder
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Supplier: Staubli Electrical Connectors
Description: With rigid hook clip made of steel for hooking onto wires. Ø 4 mm rigid socket in handle accepting spring-loaded Ø 4 mm plugs with rigid insulating sleeve.
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Supplier: Vektek, LLC
Description: TuffGrip™ is currently available in a 2750 lb and 5500 capacity at 5,000 psi. Innovative design featuring a spring advanced work support within a double acting shuttle cylinder. TuffGrip™ sleeve design is 2.5 times thicker than other work support models on the
- Locking Actuation: Hydraulic
- Mounting: Cylindrical Body
- Plunger / Suppport Surface Diameter: 0.6300 inch
- Plunger Actuation: Air / Fluid Actuated
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Supplier: Vektek, LLC
Description: TuffGrip™ is currently available in a 2750 lb and 5500 capacity at 5,000 psi. Exclusive Vektek design, eliminates part ejection and the need for any ancillary workholding devices. After the shuttle has retracted and the plunger is released to its spring advanced
- Locking Actuation: Hydraulic
- Mounting: Cylindrical Body
- Plunger / Suppport Surface Diameter: 0.6300 inch
- Plunger Actuation: Air / Fluid Actuated
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Supplier: E-Z-HOOK, a division of Tektest, Inc.
Description: that offers a dual hook opening to assure a solid contact with an easy-to-use spring loaded design. The double hooks are retracted by a single stainless steel compression spring. The narrow body design allows for side-by-side stacking of the test connectors for multiple contacts
- Attenuation Factor: 1X
- Probe Configuration: Hook
- Probe Type: Voltage
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Supplier: E-Z-HOOK, a division of Tektest, Inc.
Description: The XKM micro-hook, double-hook (double-gripper) test connector offers a dual hook opening that assure a solid contact with easy-to-use spring loaded design. Other Double-Hooks: (X2015) smaller thinner connector with 0.030 inch max hook opening, (XK) 0.010 inch max hook opening, or
- Attenuation Factor: 1X
- Probe Configuration: Hook, Spring Loaded
- Probe Type: Voltage
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Supplier: E-Z-HOOK, a division of Tektest, Inc.
Description: ultra-thin blades that offers a dual hook opening to assure a solid contact with an easy-to-use spring loaded design. The double hooks are retracted by a single stainless steel compression spring. The narrow body design allows for side-by-side stacking of the test connectors for
- Attenuation Factor: 1X
- Probe Configuration: Flat Blade, Hook
- Probe Type: Voltage
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Supplier: Greenlee Textron, Inc.
Description: 200 FT TAPE LENGTH 400 LB TENSILE STRENGTH FLARED CASE WITH GRIP RIDGE CASE TYPE OIL TEMPERED SPRING STEEL TAPE MATERIAL 1/4 INCH W TAPE SIZE MAGNUMPRO[TM] BRAND
- Tool Type: Pulling Grip
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Supplier: Carr Lane Manufacturing Co.
Description: several standard grip lengths 1/4 3/8 1/2 1 Available from stock only in standard grip lengths (not made to order). MATERIAL: Shank > 17-4PH stainless, heat treated Rc 40 min. Spindle > 17-4PH stainless. Shackle > Forged steel per RR-C-271, zinc
- Diameter / Size: 0.2500 to 1 inch
- Locating and Fixturing Pins: Quick Release Pin
- Material: Stainless Steel
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Supplier: L-com, Inc.
Description: features a quick action spring response so the tool is ready when you are. Order today! Features Contact us today for large project volume discounts Cushioned grip provides comfort High leverage design provides powerful cutting action Hot-forged, high
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Supplier: Vektek, LLC
Description: TuffGrip™ is currently available in a 2750 lb and 5500 capacity at 5,000 psi. Innovative design featuring a spring advanced work support within a double acting shuttle cylinder. TuffGrip™ sleeve design is 2.5 times thicker than other work support models on the
- Locking Actuation: Hydraulic
- Mounting: Cylindrical Body
- Plunger / Suppport Surface Diameter: 1 inch
- Plunger Actuation: Air / Fluid Actuated
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Supplier: Greenlee Textron, Inc.
Description: 100 FT TAPE LENGTH 7.2 LB TENSILE STRENGTH NON-SLIP HANDLE CASE TYPE OIL TEMPERED SPRING STEEL TAPE MATERIAL 1/4 INCH W TAPE SIZE MAGNUMPRO[TM] BRAND
- Tool Type: Pulling Grip
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Supplier: TelephoneStuff.com
Description: 1-1/2 inch jaw capacity. Features: - Self-adjusting jaws - Spring-loaded for one-hand operation - Patented cam mechanism automatically selects proper position - Laminated steel body for added strength and longer life - Vinyl-coated, comfort-grip handles - Lifetime guarantee
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Supplier: TelephoneStuff.com
Description: 3/4 inch jaw capacity. Features: - Self-adjusting jaws - Spring-loaded for one-hand operation - Patented cam mechanism automatically selects proper position - Laminated steel body for added strength and longer life - Vinyl-coated, comfort-grip handles - Lifetime guarantee
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Supplier: TelephoneStuff.com
Description: 3/4 inch jaw capacity. Features: - Self-adjusting jaws - Spring-loaded for one-hand operation - Patented cam mechanism automatically selects proper position - Laminated steel body for added strength and longer life - Vinyl-coated, comfort-grip handles - Lifetime guarantee
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Supplier: TelephoneStuff.com
Description: 1-1/2 inch jaw capacity. Features: - Self-adjusting jaws - Spring-loaded for one-hand operation - Patented cam mechanism automatically selects proper position - Laminated steel body for added strength and longer life - Vinyl-coated, comfort-grip handles - Lifetime guarantee
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Supplier: EMKA Incorporated
Description: Heavy duty latch aISI 316, round cylinder with stainless steel cap and dust cap zinc die chrome plate. Each cylinder has one silver steel key with polyamide gF grip black. Spring loaded
- Features: Folding Handle (Drop), Padlockable
- Latch Type: Cam Latch
- Materials: Stainless Steel
- Operation: Handle
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Supplier: Vlier
Description: Locking T-handle retractable plungers in stainless steel are easily gripped, making them easy to withdraw or engage the plunger. The stainless steel design resists rust and corrosion. Typical Uses Positioning Fastening Securing Locking
- Body Material: Stainless Steel
- Diameter (threaded, English): 5/8-11
- End Force (depressed): 5 lbs
- Locking Plunger: Yes
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Supplier: Carr Lane Manufacturing Co.
Description: Germany. SIZES: Available in the following shank diameters, most in a choice of several standard grip lengths 1/4 3/8 1/2 Available from stock only in standard grip lengths (not made to order). MATERIAL: Shank > Alloy steel, heat treated, manganese phosphate
- Diameter / Size: 0.2500 to 0.5000 inch
- Locating and Fixturing Pins: Quick Release Pin
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Supplier: Daemar Inc.
Description: The PSR Series polished sucker rod protectors provide excellent impact protection for high grade, polished stainless steel. The protectors screw on the threaded ends for maximum retention and easy removal with socket tools or wrenches. Made of high-density polyethylene and color coded by
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Supplier: Reid Supply
Description: securely in place. Easy grip ring for quick removal. Pin is carbon steel, heat-treated to Rockwell RA 50-60. Ring is hot drawn spring steel with hardness of RC 47-48. Zinc plated. . Wire Lock Pins, square in shape, offer a convenient way to adjust or remove accessories on
- Diameter / Size: 0.3750 inch
- Material: Other
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Supplier: Reid Supply
Description: securely in place. Easy grip ring for quick removal. Pin is carbon steel, heat-treated to Rockwell RA 50-60. Ring is hot drawn spring steel with hardness of RC 47-48. Zinc plated. . Wire Lock Pins, square in shape, offer a convenient way to adjust or remove accessories on
- Diameter / Size: 0.2500 inch
- Material: Other
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Supplier: Reid Supply
Description: securely in place. Easy grip ring for quick removal. Pin is carbon steel, heat-treated to Rockwell RA 50-60. Ring is hot drawn spring steel with hardness of RC 47-48. Zinc plated. . Wire Lock Pins, round in shape, offer a convenient way to adjust or remove accessories on
- Diameter / Size: 0.1870 inch
- Material: Other
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Supplier: Reid Supply
Description: securely in place. Easy grip ring for quick removal. Pin is carbon steel, heat-treated to Rockwell RA 50-60. Ring is hot drawn spring steel with hardness of RC 47-48. Zinc plated. . Wire Lock Pins, round in shape, offer a convenient way to adjust or remove accessories on
- Diameter / Size: 0.3750 inch
- Material: Other
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Supplier: RS Components, Ltd.
Description: . Wound springs to oppose extension. Available in various sizes Automotive interiors and exteriors. Garage door assemblies. Vise-grip pliers. Trampolines. Washing devices. Farm machinery Material = Stainless Steel Free Length = 34.5mm Maximum Extended Length = 59.50mm Outside
- Extended Length: 2.34 inch
- Free Length (Inside Hooks): 1.36 inch
- Outer Diameter (OD): 0.1969 inch
- Spring Material: Stainless Steel
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Supplier: RS Components, Ltd.
Description: . Wound springs to oppose extension. Available in various sizes Automotive interiors and exteriors. Garage door assemblies. Vise-grip pliers. Trampolines. Washing devices. Farm machinery Material = Stainless Steel Free Length = 26.40mm Maximum Extended Length = 41.10mm Outside
- Extended Length: 1.62 inch
- Free Length (Inside Hooks): 1.04 inch
- Outer Diameter (OD): 0.1378 inch
- Spring Material: Stainless Steel
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Supplier: RS Components, Ltd.
Description: . Wound springs to oppose extension. Available in various sizes Automotive interiors and exteriors. Garage door assemblies. Vise-grip pliers. Trampolines. Washing devices. Farm machinery Material = Stainless Steel Free Length = 24.5mm Maximum Extended Length = 41.80mm Outside
- Extended Length: 1.65 inch
- Free Length (Inside Hooks): 0.9646 inch
- Outer Diameter (OD): 0.1378 inch
- Spring Material: Stainless Steel
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Supplier: RS Components, Ltd.
Description: . Wound springs to oppose extension. Available in various sizes Automotive interiors and exteriors. Garage door assemblies. Vise-grip pliers. Trampolines. Washing devices. Farm machinery Material = Stainless Steel Free Length = 38.5mm Maximum Extended Length = 106.00mm Outside
- Extended Length: 4.17 inch
- Free Length (Inside Hooks): 1.52 inch
- Outer Diameter (OD): 0.2953 inch
- Spring Material: Stainless Steel
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Featured Products Top
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Knurled press-fit ball plungers are designed for easy installation into wood, soft plastic or aluminum. Nylon ball resists marring. These press-fit ball plungers are ideal where a threaded ball plunger is impractical or when threaded adjustments are not required. Knurled press-fit ball plungers in stainless steel resist rust and corrosion. (read more)
Browse Ball and Spring Plungers Datasheets for Vlier -
Bansbach release systems offer an ergonomic alternative to the actuation of our lockable gas springs. Release systems available include a direct release lever as well as flat grip forehands and feet. Bowden wire and hydraulic release systems are also available for remote actuation. These (read more)
Browse Gas Springs Datasheets for Bansbach Easylift® -
varying criteria for coatings, but some of the most demanding applications and the thickest paints can be found in offshore industries such as oil & gas, wind farms, solar farms, and shipping. These must preserve steel constructions in a cost-effective way and protect against (read more)
Browse Spring Washers Datasheets for Nord-Lock Group -
Ultra Slim Double Gripper Micro Test Hook The ultra thin X2015 double-hook (double-grabber) test connector is the smallest of E-Z-Hook’s micro-hooks, fully (read more)
Browse Electrical Connectors Datasheets for E-Z-HOOK, a division of Tektest, Inc. -
socket. Compression spring is made of stainless steel. The XKM is available in our 10 standard colors and as a set. About E-Z-Hook For over 63 years, E-Z-Hook is a family-owned, US-based Manufacturing company with products sold as innovative (read more)
Browse Electrical Connectors Datasheets for E-Z-HOOK, a division of Tektest, Inc. -
Micro-Hook, Double Gripper with Two 0.025″ Square Pins The XKM micro-hook, double-hook (double-gripper) test connector offers a dual hook opening that assure a solid contact with easy-to-use spring loaded design. Other Double (read more)
Browse Electrical Connectors Datasheets for E-Z-HOOK, a division of Tektest, Inc. -
PULL PINS Spring-loaded pins that allow you to quickly retract and engage the plunger for locating, fastening and quick change operations (read more)
Browse Industrial Pins Datasheets for Fairlane Products, Inc. -
the handle is depressed, which then allows the balls to retract into the shank. All quick release pins are available in a variety of lengths and diameters with shanks made from 17-4 stainless steel, 300 series stainless steel, or 4130 alloy steel. Weld-in style pull pins are also offered (read more)
Browse Industrial Pins Datasheets for Fairlane Products, Inc. -
variety of lengths and diameters with shanks made from 17-4 stainless steel, 300 series stainless steel, or 4130 alloy steel. Weld-in style pull pins are also offered. These pins allow a user to quickly retract and engage the plunger for locating, fastening, and quick change operations (read more)
Browse Industrial Pins Datasheets for Fairlane Products, Inc. -
the handle is depressed, which then allows the balls to retract into the shank. All quick release pins are available in a variety of lengths and diameters with shanks made from 17-4 stainless steel, 300 series stainless steel, or 4130 alloy steel. Weld-in style pull pins are also offered (read more)
Browse Industrial Pins Datasheets for Fairlane Products, Inc.
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Microfluidics and Microfabrication
As compared with the stiffnesses of spring steel grippers (see Fig. 9.2), the PDMS grippers have orders of magnitude lower stiffness.
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Robot Grippers
1 bimetallic finger 2 spring steel gripper jaws .
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Miniature Compliant Grippers With Vision-Based Force Sensing
The design for two spring - steel grippers with different stiffness characteristics is shown in Fig. 1(a) and (b).
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Simulations and experiments in punching spring-steel devices with sub-millimeter features - ePrints@IISc
A set of punches and dies were used to punch out a miniature spring - steel gripper .
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Design and control of two fingered compliant gripper for micro gripping
[18] G.K. Ananthasuresh, Nandan Maheshwari1, A. Narayana Reddy, Deepak Kumar Sahu, “Fabrication of Spring Steel and PDMS Grippers for the Micromanipulation .
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Gesture based control of IPMC actuated gripper
[12] G.K. Ananthasuresh, Nandan Maheshwari1, A. Narayana Reddy, Deepak Kumar Sahu, “Fabrication of Spring Steel and PDMS Grippers for the Micromanipulation .
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&mgr;EDM-produced mechanical grippers for handling and assembly in microtechnology
… tip and the 'gripping field' should be less than 250µm x 250µm with a maximal thickness of 100µm, ! relatively high surface roughness for easy gripping of microstructures, ! material used for fabrication of the grippers should be spring steel (in consideration of all …
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http://dspace.mit.edu/bitstream/handle/1721.1/38432/43071552-MIT.pdf?sequence=2
They are then grabbed individually by a gripper made of spring steel whose jaws are designed in order to ensure a good clamping without applying too much pressure on the fibers and to enable the fibers to be released easily.
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Mechanical gripper system for handling and assembly in MEMS
The described grippers are fabricated from spring steel by wire electro-discharge-machining (EDM).
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Optimal Design of a Meso-scale Gripper and its Prototyping with Spring Steel and PDMS - ePrints@IISc
Optimal Design of a Meso-scale Gripper and its Prototyping with Spring Steel and PDMS .