v
TABLE OF CONTENTS
Abstrak i
Abstract ii
Dedication iii
Acknowledgement iv
Table of Content v
List of Figure ix
List of Table xi
1. INTRODUCTION 1
1.1 Overview
1 1.2
Problem Statement 3
1.3 Objectives of the project
4 1.4
Scope of Project 4
2. LITERATURE REVIEW 5
2.1 Overview 5
2.1.1 Operation 7
2.2 Gripping Action
7 2.2.1 External Gripping
7 2.2.2 Internal Gripping
7 2.3
Type of gripper 8
2.4 Existing Gripper Analysis
8
2.4.1 Major Factors in Choosing a Gripper and Jaw Design 8
2.4.2 Tolerance Analysis 10
2.4.2.1 Tolerance Analysis of Mechanisms 12
2.4.2.2 Tolerance Type 13
2.5 Major Factor Considerations in Manufacturing Gripper
14 2.5.1 Material Selection
14 2.5.1.1 Overview
14 2.5.1.2 Cost Issues
15
vi 2.5.1.3 Material Category
16 a Plastics
16 i
High Density PolyEthylene HDPE 16
ii PolyTetraFluorEtylene PTFE
17 iii
Neoprene 18
b Metals
19 i
Aluminum 19
ii Stainless Steel
20 iii
Mild Steel 21
c Carbon Fiber
22 2.5.1.4 Material comparison
23 2.5.2 Manufacturing Process Selection
25 2.5.2.1 Fabrication of Gripper
25 2.5.2.2 Laser Cutting Machining LCM
25 2.5.2.3 Electrical Discharge Machining EDM
27 2.5.2.4 Turning Process
27 2.5.2.5 Milling
29 2.5.2.6 Grinding
30 2.5.2.7 Drilling
30 2.5.2.8 Fuse Deposition ModellingFDM
31 2.5.3 Gripper Assembly
32 2.5.3.1 Fastener
32 a
Bolt and machine Screw 32
b Thread type Classification
33 i
Tapping Screw 32
ii Slotted Screw
33 iii
Socket Head Cap Screw 34
c Material Description of Screw
34 2.6
Gripper testing 34
2.6.1 Physical Prototype Testing 35
2.7 Conclusion
36
vii
3. METHODOLOGY 37
3.1 Introduction
37 3.2
Project Planning 37
3.3 Detail planning
39 3.4
Study of Preliminary Design 39
3.5 Finalize Conceptual Design Prototype
40 3.6
Protoype Fabrication Process 40
3.7 Assembly Process 43
3.8 Prototype Functional Testing 43
4. GRIPPER FABRICATION PROCESS 44
4.1 Introduction
44 4.2
Material Selection 44
4.3 Bill of material
45 4.4
Fabrication Process 47
4.4.1 Flow Chart Overview 49
4.4.2 Part 1: Base Fabrication 51
4.4.3 Part 2: LinkSupporter Fabrication 53
4.4.4 Part 3: Jaw Fabrication 56
4.5 Assembly Process
58 4.5.1 Gripper Assembly
58 4.5.2 Mechanical Component
60
5. GRIPPER FUNCTIONAL TESTING 62
