2 finishing this project includes machine design, applied mechanic, programming,
fabricating and material selection.
1.2 Problem Statement
The current pneumatic gripper for COMAU in FKP’s robotic laboratory is small in size and can only grip small and light weight material. The base of the gripper
attached with the end of the robot arm is only about 55 mm x 55 mm in dimension. The dimension of the gripper body is 50 mm x 42 mm and the thickness is 27 mm.
The jaw of the gripper it self is small. The thickness is only 13 from the thickness of the body. The jaws can open maximum 10 mm both side and only can grip up to 30
mm of the material. It is also not suitable for gripping a heavy cylindrical object because the probability the object will slip is high. The hard surface of the jaw can
easily damage the soft material surface and edge the gripper did not construct with build in force sensor to begin with when grasping the material. Because the size is
small, the jaws cannot strongly hold a heavier object and probably will slip while running the pick and place process. The external gripping force per finger effective
value is 42 N and the internal gripping force per finger effective value is 66 N.
1.3 Project Aim and Objective
The aim of this project is to design and develop a new pneumatic gripper for COMAU. The aim is achieved through these objectives:
a To design and develop a new and improved pneumatic based robot gripper for the COMAU robot in FKP’s Robotic Laboratory.
b To integrate the gripper with the COMAU robot available in Robotic laboratory.
c To test and analyze the functionality of the gripper when integrated with the COMAU robot.
3
1.4 Project Scope
This project is focused in designing and developing a new pneumatic based gripper that can grasp a bigger size object with efficient grip and can reduce impact to the
object. The gripper will be designed using Solidwork software, the 3D software that can design, simulate, and analyze the material properties use in producing the
gripper before being fabricate. This gripper will than be integrated with COMAU robot in robotic laboratory for pick and place of two or more shapes of object. In
order to design and develop the gripper, a further study on the current gripper available in robotic laboratory on how it mechanism and characteristics should be
conducted. At the end of the development process, testing will be carrying out to analyze whether the gripper can work properly or not.
1.5 Benefit of project
By the end of this project, hopefully the following benefits can be achieved: a Improving the grasping mechanism of the current gripper to be more efficient
and safe. b Can grip various type of material shapes compare to the current robot gripper in
FKP’s robotic laboratory. c The continuous research and sharing information from this project can give an
idea to develop various gripper types for more complex and flexible application.
4
1.6 Project Planning
Table 1.1 shows the Gantt chart for activities in PSM 1 and Table 1.2 shows the Gantt chart for activities in PSM 2. Table 1.3 shows the detail plan weekly target
for fabrication works including testing and analysis and report writing in PSM 2.
Table 1.1: Gantt chart for PSM 1
Table 1.2: Gantt chart for PSM 2
5
Table 1.3: Detail Plan for fabrication works and report writing in PSM 2
Red = Target
Blue = Actual
6
CHAPTER 2
LITERATURE REVIEW
This chapter discusses about information related to this project in order to give well understanding and good review about things that are crucially needed. This chapter
also includes the study on the existing robot gripper available with the COMAU robot in FKP’s robotic laboratory. Beside that, the previous research from other
people that related with this project also stated.
2.1 Definition of Robot
