v
TABLE OF CONTENT
Abstract i
Abstrak ii
Dedication iii
Acknowledgement iv
Table of Content v
List of Tables viii
List of Figures ix
1. INTRODUCTION 1
1.1 Overview
1 1.2
Problem Statement 2
1.3 Objectives
3 1.4
Scope 4
2. LITERATURE REVIEW 5
2.1 Overview on Gripper
5 2.2
Gripper Operation 6
2.3 Gripping Action
6 2.3.1
Internal Gripping 6
2.3.2 External Gripping
7 2.3.2.1 Friction Gripping Force closure
7 2.3.2.2 Retention or Encompassing Gripping Form closure
7 2.4
Classification of Common End Effectors 8
2.4.1 Passive End Effectors
9 2.4.1.1 Non-Prehensile Gripper
9 2.4.1.2 Warp Gripper
10
vi
2.4.1.3 Pinch Gripper 10
2.4.2 Active End Effectors and Hands
11 2.5
Component Features Considered In the Selection Process 12
2.5.1 Weight of Component
12 2.5.2
Material of Compoment 13
2.5.3 Surface Properties of the Component
13 2.5.4
Geometry of the Components 14
2.5.5 Gripper Features Considered In the Selection Process 16
2.5.6 Number of Different Components
17 2.5.7
Positional accuracy 17
2.5.8 Cycle Time
17 2.5.9
Environmental Conditions 18
2.5.10 Weight of Gripper 19
2.5.11 Gripping Force 19
2.5.12 Actuation Principle 20
2.5.13 Range of Jaw Openings 22
2.5.14 Area of Contact 22
2.5.15 Cost 22
2.6 Gripper Selection Process
23 2.6.1
Gripper Types Consideration in the Selection Process 23
2.6.1.1 Clamping Grippers 23
a Two-jaw Grippers
24 b
Three-jaw Grippers 24
2.6.1.2 Flexible Grippers 25
a Multifingered Grippers
25 b
Soft Grippers 26
c Bladder Grippers
27 d
Adjustable-Jaw Grippers 28
e Single-Surface Grippers
29 f
Magnetic grippers 29
vii
g Vacuum Gripper
30 h
Adhesive Gripper 31
2.7 Conclusion
32
3. METHODOLOGY 33
3.1 Overview
33 3.2
Clarification of Task 35
3.3 Conceptual Design
35 3.4
Embodiment Design 36
3.5 Detail Design
36
4. GRIPPER DESIGN 37
4.1 Overview
37 4.2
Evaluation on Existing Gripper 38
4.3 Combination Solution Principles to Fulfill the Overall Function
40 4.4
Technical Rating Rt and Economical Rating Re 42
4.5 Selection Suitable Combinations
45 4.6
Improvement Base on Solution Variants 47
4.6.1 Improvement on Base
47 4.6.2
Improvement on Support Bar 47
4.6.3 Improvement on Slider
48 4.6.4
Improvement on Jaw 48
4.7 Optimization on gripper design
49 4.7.1
Optimization on gripper’s jaws 49
5. RESULT AND DISCUSSION 56
