CHAPTER 1
INTRODUCTION
1.1 Project Background.
This project title is “Design of Robust Gripper Control for Hoisting
Mechanism”. Robust gripper is a type of end of arm tooling EOAT used to move
parts from one location to another and it is driven by using the pneumatic system. The term of robust gripper is one of the mechanical devices that use either rotary
or linear actuators to mimic the motion of the human hand or human movement that directly helps convert pneumatic energy into mechanical energy.
This project is developed to design and fabricated a prototype system with a combination of hardware and software to perform a gripper prototype application
for handling the delicate Nata de Coco jelly block as a real implementation at Anzag Industries Sdn. Bhd, Industri Kecil dan Sederhana Bemban, Malacca. The
controller used is FPO Series Programmable Controller by using FPWIN Pro, Panasonic Programming Software.
The fiber optic sensor technology which is to measure the rotational of the gear teeth system is applied to translate the linear motion of the robust gripper
movement. Ideally, an optical fiber is a cylindrical dielectric waveguide that transmits light along its axis, by the process of total internal reflection. Moreover,
the Inductive Proximity sensor was applied together to detect the metal for reset the counting numbers of the teeth gear.
In order to set up the mode of the programming for overall process, the Programmable Display is developed which it is provide the interface between user
and the machine. Programmable Display is able to display the sequence of the program and act as an operation input device to running the desired sequence and
condition of the machines in Manual Mode condition.
The analysis of the project has been done to ensure the ability of the robust gripper to grasp the load without failure. Previously, the robust gripper just used
the stepper motor as a transmission device and after series of experimented, the Induction Motor was implemented due to the load torque is much better than
stepper motor that has been used previously.
1.2 Objective.
Kategori